CPU usage of rviz increases when running for long periods

[nyxrobotics]

Description

Since the 814908b pull request, the cpu usage of rviz has been increasing over time This is about twice the CPU usage in an hour I went back and verified the commits one by one, it seems to be caused by commit d98a529 Revert this commit will resolve it I have read the commit logs and code but could not find the cause of the bug I don't know what this commit is needed for

Your environment

• ROS Distro: [Noetic]
• OS Version: Ubuntu 20.04 (with nvidia GPU)
• Source
  • 1a95deb

Steps to reproduce

I am using xarm

roslaunch xarm_gazebo xarm7_beside_table.launch add_gripper:=true

roslaunch xarm7_gripper_moveit_config xarm7_gripper_moveit_gazebo.launch 

Expected behaviour

rviz cpu utilization is essentially constant

Actual behaviour

rviz cpu utilization will increase forever over time

Backtrace or Console output

nothing