Closed mikkomcmenamin closed 3 months ago
Did some profiling. Here is a docker profiling log and graph
as-ros-to-unity-profiling-log.zip
Thanks for reporting the issue and the detailed information. We created a ticket to investigate the issue [AIRO-1686]
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Hi! Any updates on this issue?
It seems this issue can be resolved by changing ros2 version from Foxy to Galactic. The problem seems to be in Foxy rclpy serialization.
Describe the bug When the Unity client connects, and starts subscribing to a ROS2 topic, the ROS-TCP-ENDPOINT docker container memory usage starts to go up. Container memory usage increases only if the client is connected and the topic is being subscibed to. Once the client disconnects or there is no more ros2 messages being published, the memory usage stays the same.
Console logs / stack traces No errors or anything out of the ordinary in either ROS-TCP-Endpoint or ROS-TCP-Connector logs.
Expected behavior Container memory usage should not increase with time
Screenshots![image (3)](https://user-images.githubusercontent.com/18258308/150340741-cee12114-b1b6-406c-9ef4-259d93663ac1.png)
Environment:
Additional context Used msg packages: ros built-in messages, geographic_msgs, unique_identifier_msgs, and a custom message type. Only 1 topic.