UTKARSH RAI

Thanks for the review! I will make the necessary changes.

So, my performance.ini file looks something like this - ``` [feature_extract] batchsize = 5 cachebatchsize = 5 imageresizew = 640 imageresizeh = 480 [feature_match] matcher = RANSAC n_values_all = 1,5,10,20,50,100...

Hello @Tobias-Fischer , could you provide some hints as to why this might be happening? Also, what is the usual expected time for the feature matching process to get completed?

Hello, I am in the process of writing a short tutorial for this. Can someone kindly suggest best practices for writing such tutorials?

I have opened a pull request that provides tutorial for synchronous movement, [here](https://github.com/ros-planning/moveit_tutorials/pull/621)