Description

As detailed in ros2/rviz#1322, when rviz was updated from ros1 to ros2, the units used in update(wall_dt, ros_dt) were changed from seconds to nanoseconds.

This change has not been reflected in the methods and documentation in MoveIt.

I have raised ros2/rviz#1533 to begin rectifying the situation in the rviz repository.

ROS Distro

Rolling

OS and version

N/A

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

No response

Which RMW are you using?

None

Steps to Reproduce

Set Scene Display Time to 10.

Expected behavior

The scene should only update every 10 seconds.

Actual behavior

The scene updates at every opportunity, because it is trying to update every 10 nanoseconds.

Backtrace or Console output

No response