makePlan takes too much time.

[TiderFang]

[ WARN] [1604979831.350605860, 264.600000000]: Cancel planning failed or is not supported by the plugin. Wait until the current planning finished!
[ INFO] [1604979831.473445054, 264.700000000]: Time (for update): 84.900000 sec
[ INFO] [1604979831.473546451, 264.700000000]: voronoi.prune
[ INFO] [1604979831.535344737, 264.800000000]: Time (for prune): 0.100000 sec
Generated initial frame.
start_x,start_y 2032.03 2075.23
goal_x,goal_y 2123.05 2087.28
findPath 3 res 1
voronoi.isVoronoi(goal_x,goal_y) 1