reduce time it takes to process NavigateToPose request

[Jconn]

merging in #1515 adds another 200-300ms of latency to handling a NavigateToPose request, which is a lot.

This comes from creating a new behavior tree every time a NavigateToPose request is accepted. That change is done to handle CoroActionNode's properly. But there should be a smarter way that doesn't take so much time.

[SteveMacenski]

Did you file a ticket with BehaviorTree.CPP on the reset?

[Jconn]

it is here BehaviorTree/BehaviorTree.CPP#146

[SteveMacenski]

Awesome, thanks for linking it.

Is this ticket something you have a a business reason to look into, or should I put this in the pool of tasks to try to find some interested parties to look at?

[Jconn]

I would put it in the pool - we aren't prioritizing performance issues yet

[SteveMacenski]

Ok, thanks for the update.

[facontidavide]

Hi,

I probably need to join this. I am sorry that my library is creating issues of this kind. I will try to dedicate time to this in the next days.

[SteveMacenski]

#1606 resolves