12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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.
master
Michael Grupp 2018-05-29 11:04:29 +02:00 committed by Wally B. Feed
parent 4ecf04b49f
commit d53d339562
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
View File

@ -45,7 +45,7 @@ namespace cartographer_ros {
namespace { namespace {
void Run() { void Run() {
constexpr double kTfBufferCacheTimeInSeconds = 1e6; constexpr double kTfBufferCacheTimeInSeconds = 10.;
tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)}; tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
tf2_ros::TransformListener tf(tf_buffer); tf2_ros::TransformListener tf(tf_buffer);
NodeOptions node_options; NodeOptions node_options;

2
cartographer_ros/cartographer_ros/node_main.cc
View File

@ -44,7 +44,7 @@ namespace cartographer_ros {
namespace { namespace {
void Run() { void Run() {
constexpr double kTfBufferCacheTimeInSeconds = 1e6; constexpr double kTfBufferCacheTimeInSeconds = 10.;
tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)}; tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
tf2_ros::TransformListener tf(tf_buffer); tf2_ros::TransformListener tf(tf_buffer);
NodeOptions node_options; NodeOptions node_options;