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RobotWebTools / ros3djs

3D Visualization Library for use with the ROS JavaScript Libraries
https://robotwebtools.github.io/ros3djs
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Removal of instances (viewer, URDFClient, TFClient)? #177

Open ninaschaaf opened 7 years ago

ninaschaaf commented 7 years ago

We use the ros3D library for visualizing different robot models for different ROS-Connections in our web-app. Unfortunately this use-case produces a memory leak due to the necessity to create multiple instances of "Viewer", "URDFClient" and "TFClient". Is there any way to "update" the existing instances, for instance when the ros-connection changes - in order to avoid having to create new instances for each ROS connection? Or is there a way to remove/dispose the instances completely?

renarded commented 6 years ago

Up ! :)

I have exactly the same issue as @ninaschaaf . I want to be able to remove the robot on the viewer when I disconnect from ros, and load the robot again (not necessarily the same model, depends on the robot I'm connected to) on another connection, with a new TFclient and URDFClient.

I have tried to set the Viewer, Urdfclient and Tfclient objects to undefined, and also to remove the HTML tag inside the urdf div using removeChild(). With no success, the memory is still here.

mjsobrep commented 5 years ago

The way that I am currently handling this is to leave the viewer there. It isn't tied to ROS anyway. Then I remove the urdf from the Three.js scene before releasing the references to the tf client and urdf client. This seems to be working, but there could be a bug or leak that I am not seeing.

This ends up looking this: 

viewer.scene.remove(client.urdf);
setClient(null);

where the viewer is the ROS3D.Viewer instance, the client is the ROS3D.UrdfClient client and setClient just sets the variable that stores the client. I don't keep around the ROSLIB.TFClient since it is referenced in the urdf client.