Description of contribution in a few bullet points
When using very large maps ( we are talking about maps in the order of 200 Mb), we noticed that the InflationLayer would consume a VERY large amount of memory.
After investigation, we realized that:
memory is never freed
the total amount of memory consumed can be reduced (no spikes)
See the difference before and after:
Before
After
The impact in terms of performance (CPU usage) should be negligible
Description of documentation updates required from your changes
None
Future work that may be required in bullet points
None
For Maintainers:
[ ] Check that any new parameters added are updated in docs.nav2.org
[ ] Check that any significant change is added to the migration guide
[ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
[ ] Check that any new functions have Doxygen added
[ ] Check that any new features have test coverage
[ ] Check that any new plugins is added to the plugins page
[ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Basic Info
Description of contribution in a few bullet points
When using very large maps ( we are talking about maps in the order of 200 Mb), we noticed that the
InflationLayerwould consume a VERY large amount of memory.After investigation, we realized that:
See the difference before and after:
Before
After
The impact in terms of performance (CPU usage) should be negligible
Description of documentation updates required from your changes
None
Future work that may be required in bullet points
None
For Maintainers: