Hi everybody,
i'm pretty new to ROS and programming, and I hope someone can help me with this problem:
Everytime I use a service in one of my nodes, the memory usage of the service node and the client node start rising limitless. First I thought I had a bug in one of my nodes or in my custom service, but I tried a modified tutorial and got the same problem. I only commented the ROS_INFO out, made two constant ints and added a loop to the client.
Service:
#include "ros/ros.h"
#include "lidar_sim/AddTwoInts.h"
bool add(lidar_sim::AddTwoInts::Request &req,
lidar_sim::AddTwoInts::Response &res)
{
res.sum = req.a + req.b;
// ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
// ROS_INFO("sending back response: [%ld]", (long int)res.sum);
return true;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_server");
ros::NodeHandle n;
ros::ServiceServer service = n.advertiseService("add_two_ints", add);
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
Client:
#include "ros/ros.h"
#include "lidar_sim/AddTwoInts.h"
#include <cstdlib>
int main(int argc, char **argv)
{
ros::init(argc, argv, "add_two_ints_client");
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<lidar_sim::AddTwoInts>("add_two_ints");
lidar_sim::AddTwoInts srv;
srv.request.a = 1;
srv.request.b = 2;
ros::Rate loop_rate(20);
while(ros::ok())
{
if (client.call(srv))
{
//ROS_INFO("Sum: %ld", (long int)srv.response.sum);
}
else
{
//ROS_ERROR("Failed to call service add_two_ints");
}
loop_rate.sleep();
}
}
After an hour, client and service use, according to gnome-system-monitor, 800MB memory.
I'm using Ubuntu 14.04 64bit and ROS indigo. Valgrind also doesn't show any memory leak.
Thanks for any help!
BTW: lidar_sim is just a package I use to test various nodes in.
Originally posted by JohnDoe2991 on ROS Answers with karma: 305 on 2014-12-18
Post score: 1
Original comments
Comment by Wolf on 2014-12-18:
Does this problem occurr for client and subscriber? I noted your client does not call into spinOnce(); Maybe some cleaning up is done there??
Comment by JohnDoe2991 on 2014-12-19:
@Wolf: I thought spinOnce() is only for publisher/subscriber not service/client? I tested it, but it doesn't make any difference.
@gvdhoorn: Thank you! It seems that the persistent mode works! I'm just curious why the non persistent mode piles up memory usage and how to get rid of it.
Comment by gvdhoorn on 2014-12-19:
I only asked about persistent mode to see if that would change the behaviour you're seeing. You might want to report this to the roscpp issue tracker. However, without valgrind results backing you up, I expect you'll encounter some scepticism.
Comment by tfoote on 2014-12-24:
@Dirk Thomas FYI
