dummy.diff

diff --git a/moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp
index a5c6b89..a0f0069 100644
--- a/moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp
+++ b/moveit_ros/move_group/src/default_capabilities/plan_service_capability.cpp
@@ -51,6 +51,7 @@ void move_group::MoveGroupPlanService::initialize()
 bool move_group::MoveGroupPlanService::computePlanService(moveit_msgs::GetMotionPlan::Request& req,
                                                           moveit_msgs::GetMotionPlan::Response& res)
 {
+  ros::Time ts = ros::Time::now();
   ROS_INFO("Received new planning service request...");
   // before we start planning, ensure that we have the latest robot state received...
   context_->planning_scene_monitor_->waitForCurrentRobotState(ros::Time::now());
@@ -69,7 +70,7 @@ bool move_group::MoveGroupPlanService::computePlanService(moveit_msgs::GetMotion
     ROS_ERROR("Planning pipeline threw an exception: %s", ex.what());
     res.motion_plan_response.error_code.val = moveit_msgs::MoveItErrorCodes::FAILURE;
   }
-
+  ROS_INFO("Elapsed time: %.3f s", (ros::Time::now() - ts).toSec());
   return true;
 }
 
diff --git a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
index 0c51cbe..3afc064 100644
--- a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
+++ b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
@@ -333,6 +333,8 @@ void planning_scene_monitor::CurrentStateMonitor::jointStateCallback(const senso
   }
   bool update = false;
 
+  ROS_INFO_STREAM_THROTTLE(0.1, "planning_scene_monitor::CurrentStateMonitor::jointStateCallback");
+
   {
     boost::mutex::scoped_lock _(state_update_lock_);
     // read the received values, and update their time stamps