relocation by adding trajectory make memory(ram) usage bigger and bigger

[huangshuqing]

When I need to relocate with initial_pose, the cartographer use the way of adding a new trajectory. Such as :

Eigen::Quaterniond quaterniond_cur_to_traj0=cartographer::transform::RollPitchYaw(0,0,20);
geometry_msgs::PoseWithCovarianceStamped pose_msg;
pose_msg.header.stamp = ros::Time::now();
pose_msg.header.frame_id = "map";
pose_msg.pose.pose.position.x = 0;
pose_msg.pose.pose.position.y = 0;
pose_msg.pose.covariance[0] = 0.25;
pose_msg.pose.covariance[6 * 1 + 1] = 0.25;
pose_msg.pose.covariance[6 * 5 + 5] = 0.06853891945200942;
pose_msg.pose.pose.orientation.z = quaterniond_cur_to_traj0.z();
pose_msg.pose.pose.orientation.w = quaterniond_cur_to_traj0.w();

ros::NodeHandle nh;

ros::ServiceClient client_traj_finish = nh.serviceClient<cartographer_ros_msgs::FinishTrajectory>("finish_trajectory");
cartographer_ros_msgs::FinishTrajectory srv_traj_finish;
int traj_id = node->GetTrajectorySizeZYWN()-1;

LOG(INFO)<<"traj_id: "<<traj_id;
srv_traj_finish.request.trajectory_id = traj_id;
if (client_traj_finish.call(srv_traj_finish))
{
    ROS_INFO("Call finish_trajectory %d success!", traj_id);
}
else
{
    ROS_INFO("Failed to call finish_trajectory service!");
}

ros::ServiceClient client_traj_start = nh.serviceClient<cartographer_ros_msgs::StartTrajectory>("start_trajectory");
cartographer_ros_msgs::StartTrajectory srv_traj_start;
srv_traj_start.request.configuration_directory = "/home/cartographer_ros/configuration_files/";//.lua文件所在路径
srv_traj_start.request.configuration_basename = "zywn_backpack_3d_localization.lua";//lua文件
srv_traj_start.request.use_initial_pose = 1;
srv_traj_start.request.initial_pose = pose_msg.pose.pose;
srv_traj_start.request.relative_to_trajectory_id = 0;
if (client_traj_start.call(srv_traj_start))
{
    // ROS_INFO("Status ", srv_traj_finish.response.status)
    ROS_INFO("Call start_trajectory %d success!", traj_id);
    traj_id++;
}
else
{
    ROS_INFO("Failed to call start_trajectory service!");
}

However，it will result in trajectory size and memory(ram) usage bigger and bigger. If we keep repeating this operation, the system is getting stuck.

How to slove it ? or Why design like this?

thanks for answers!