Open semeyerz opened 8 years ago
First of all, I'm sorry I forgot to answer to your email.
We haven't really observed this and our people tracking is basically running 24/7. Do you know which component exactly is causing the leak? I'll try and investigate this and see if I can reproduce it.
Can you tell me the exact configuration of nodes you are running (e.g. I remember you only ran the UBD?!) and also post the configurations you're using if you changed any of the config yaml files?
Thanks for the fast reply. Right now we are only using the laser based leg_detector.
The component causing the leak is bayes_people_tracker (observed with htop).
Right now we use the launch file: https://github.com/CentralLabFacilities/tobi_robot/blob/indigo/tobi_bringup/launch/people_tracker_robot.launch
I know this issue is over a year old, but I can confirm we had a similar issue when we tried out the Bayes tracker in Freiburg. We also observed a correlation with the number of tracked targets. The issue disappeared after switching from NNJPDA to NN data association.
We were trying to debug it for a while and I believe we observed some sort of combinatorial explosion in the NNJPDA code, but couldn't quickly figure out a solution.
We could observe that bayes_people_tracker slows down the whole system at some point by occupying all of the systems memory. Unfortunately I can not provide debugging data(rosbag, logs, ...) yet as the system becomes pretty slow in such situations. There seems to be a correlation between such problems and the number of persons around the robot. This means more people (>8) increase the chance of running into the leak/lockup.