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This could be either:

• The time it takes for the global planner to generate a plan, before the robot starts moving, or
• Something wrong with the action server/client or the transport layer

The easiest way to narrow this down is to try to reproduce it with a simpler action server and client.

This could be either:

• The time it takes for the global planner to generate a plan, before the robot starts moving, or
• Something wrong with the action server/client or the transport layer

The easiest way to narrow this down is to try to reproduce it with a simpler action server and client.