From d53d3395626404cdb6c9501570def358fd90fd95 Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Tue, 29 May 2018 11:04:29 +0200
Subject: [PATCH] Sanitize node memory consumption with a smaller TF buffer
 size. (#879)

Fixes an (almost) unbounded growth of the TF buffer.

See the heap profile logs in the PR for more information.
---
 .../cartographer_ros/cartographer_grpc/node_grpc_main.cc        | 2 +-
 cartographer_ros/cartographer_ros/node_main.cc                  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
index 36ba3f5..0e33f99 100644
--- a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
+++ b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
@@ -45,7 +45,7 @@ namespace cartographer_ros {
 namespace {
 
 void Run() {
-  constexpr double kTfBufferCacheTimeInSeconds = 1e6;
+  constexpr double kTfBufferCacheTimeInSeconds = 10.;
   tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
   tf2_ros::TransformListener tf(tf_buffer);
   NodeOptions node_options;
diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index b41972c..62d8181 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -44,7 +44,7 @@ namespace cartographer_ros {
 namespace {
 
 void Run() {
-  constexpr double kTfBufferCacheTimeInSeconds = 1e6;
+  constexpr double kTfBufferCacheTimeInSeconds = 10.;
   tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
   tf2_ros::TransformListener tf(tf_buffer);
   NodeOptions node_options;