Performance drops significantly when echoing the /world/shapes/dynamic_pose/info topic

[adlarkin]

Desired behavior

@iche033 discovered that echoing the /world/shapes/dynamic_pose/info topic for a world with a lot of shapes results in a significant RTF decrease. On my machine, I found that my RTF dropped from 90% to 10% when I started to echo this topic (using TPE, and running headless).

Alternatives considered

TBD

Implementation suggestion

It seems like this function is being called, which causes the slow down. So, I think that we should try to optimize this method.

Additional context

At first glance, it appears as if this could be related to #711, since the method linked above uses a lot of Each calls.

[adlarkin]

@iche033 I think that we can close this now that #856 is merged. If you look at the new performance testing numbers in the PR description of #856, the /world/shapes/dynamic_pose/info RTF is a lot better now. If you think that the new performance of this topic with #856 is good enough, let me know, and I will close this.

[iche033]

sounds good, closing