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ensenso / ros_driver

Official ROS driver for Ensenso stereo cameras.
http://wiki.ros.org/ensenso_driver
BSD 3-Clause "New" or "Revised" License
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ROS2: High RAM usage of ensenso_camera_node #107

Closed benthie closed 1 year ago

benthie commented 1 year ago

When running ensenso_camera_node and the image_stream script the camera node's memory usage increases over time. This does not happen with e.g. the request_datascript, which in comparison to the image_stream script does not include the data in the action response and does not publish any data.

benthie commented 1 year ago

The default caching time for a ROS2 action server is 15 minutes. Since the image_stream script requests data with the include_results_in_response flag, each action result contains a camera image. And the server does cache all those results, hence the memory accumulation of the ensenso_camera_node.

@erblinium I will create a PR and you can expect the patch to be release in the next days.

benthie commented 1 year ago

Is related to https://github.com/ros2/rclcpp/issues/2101