These three commits (for i/j/k) add a one-second sleep to the RViz GUI to allow the PlanningSceneMonitor of the GUI to catch up with the actual current state of the Robot before updating its <current> RobotState:

252bec3 , e3ef9a6 , d9566fd

Once the more fundamental problem of waiting for the current robot state is resolved in the Monitor, this should be replaced by waiting for the actual current state.

The original discussion of this change took place in #291 .