From 3331deae9bcb35e1bb29cbe924560ec8021652cf Mon Sep 17 00:00:00 2001
From: v4hn <me@v4hn.de>
Date: Wed, 28 Apr 2021 11:11:30 +0200
Subject: [PATCH] Get rid of extrapolation into future required warnings

Also see https://github.com/ros-planning/moveit/pull/2627 for more details.

Closes #192.
---
 .../launch/obstacle_avoidance_demo.launch                    | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/doc/perception_pipeline/launch/obstacle_avoidance_demo.launch b/doc/perception_pipeline/launch/obstacle_avoidance_demo.launch
index f0f7050ce..f6eda25c0 100644
--- a/doc/perception_pipeline/launch/obstacle_avoidance_demo.launch
+++ b/doc/perception_pipeline/launch/obstacle_avoidance_demo.launch
@@ -1,5 +1,10 @@
 <launch>
   <include file="$(find panda_moveit_config)/launch/demo.launch" />
+  <!--
+  In this tutorial we wait much longer for the robot transforms than we usually would,
+  because the user's machine might be quite slow.
+  -->
+  <param name="robot_description_planning/shape_transform_cache_lookup_wait_time" value="0.5" />
 
   <!-- Play the rosbag that contains the pointcloud data -->
   <node pkg="moveit_tutorials" type="bag_publisher_maintain_time" name="point_clouds" />