修改物体attach时，多次赋值当前时间导致卡顿问题，

unilabos/device_mesh/view_robot.rviz

@@ -4,15 +4,12 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /TF1/Frames1
         - /TF1/Tree1
-        - /PlanningScene1/Scene Geometry1
-        - /MotionPlanning1
         - /MotionPlanning1/Scene Geometry1
         - /MotionPlanning1/Scene Robot1
         - /MotionPlanning1/Planning Request1
-      Splitter Ratio: 0.4940796494483948
-    Tree Height: 602
+      Splitter Ratio: 0.5016146302223206
+    Tree Height: 1112
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -56,7 +53,7 @@ Visualization Manager:
       Name: TF
       Show Arrows: true
       Show Axes: true
-      Show Names: true
+      Show Names: false
       Tree:
         {}
       Update Interval: 0
@@ -88,7 +85,7 @@ Visualization Manager:
       Value: false
       Visual Enabled: true
     - Class: moveit_rviz_plugin/PlanningScene
-      Enabled: false
+      Enabled: true
       Move Group Namespace: ""
       Name: PlanningScene
       Planning Scene Topic: /monitored_planning_scene
@@ -99,7 +96,7 @@ Visualization Manager:
         Scene Display Time: 0.009999999776482582
         Show Scene Geometry: true
         Voxel Coloring: Z-Axis
-        Voxel Rendering: Occupied Voxels
+        Voxel Rendering: Disabled
       Scene Robot:
         Attached Body Color: 150; 50; 150
         Links:
@@ -108,10 +105,108 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
+          PLR_STATION_deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_first_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_fourth_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_main_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_second_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          PLR_STATION_deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          PLR_STATION_deck_third_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          benyao_arm_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          benyao_arm_link_1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          benyao_arm_link_2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          benyao_arm_link_3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          benyao_arm_slideway:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          benyao_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          benyao_gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          benyao_gripper_left:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          benyao_gripper_right:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          hotel_base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          hotel_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          hotel_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
         Robot Alpha: 1
         Show Robot Collision: false
         Show Robot Visual: false
-      Value: false
+      Value: true
     - Attached Body Color: 150; 50; 150
       Class: moveit_rviz_plugin/RobotState
       Collision Enabled: false
@@ -294,9 +389,9 @@ Visualization Manager:
         Scene Alpha: 0.8999999761581421
         Scene Color: 50; 230; 50
         Scene Display Time: 0.009999999776482582
-        Show Scene Geometry: true
-        Voxel Coloring: Z-Axis
-        Voxel Rendering: Occupied Voxels
+        Show Scene Geometry: false
+        Voxel Coloring: Cell Probability
+        Voxel Rendering: All Voxels
       Scene Robot:
         Attached Body Color: 150; 50; 150
         Links:
@@ -469,28 +564,28 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.634795606136322
+      Pitch: 0.48479583859443665
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 5.590744495391846
+      Yaw: 0.042561568319797516
     Saved: ~
 Window Geometry:
   Displays:
-    collapsed: true
-  Height: 1897
-  Hide Left Dock: true
+    collapsed: false
+  Height: 2032
+  Hide Left Dock: false
   Hide Right Dock: true
   MotionPlanning:
-    collapsed: true
+    collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000003a300000714fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000027000002c80000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000002600000026fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000002fb00000440000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000ddb0000071400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000002600000026fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 3547
-  X: -857
-  Y: 149
+  Width: 3956
+  X: 140
+  Y: 54