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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
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2
cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
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@ -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;

2
cartographer_ros/cartographer_ros/node_main.cc
View File

@ -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;