Sabrina-

This fix has been added into the p2os package as well, as of v52. The
p2os node should be fully compatible with gmapping node now (we've
tested it with our Pioneer 2s).

-Dave

On Thu, May 20, 2010 at 4:06 AM, Sabrina Kliegl <skliegl@zitmail.upb.de> wrote:
> Hi everybody,
>
> some time ago we could fix the problem with the memory leak:
> On the real robot we use the p2os package for our P3AT. In the sip.h (of
> p2os) there are two initialized variables x_offset and y_offset. Thus
> the initial values of the odometry data of the robot are always very big
> random numbers.
>
> On startup gmapping initializes the maps according to these odometry
> values and thus it tries to build a very big map (eating all the
> memory). To solve the problem, we initialized x_offset and y_offset with
> 0. Now gmapping is running with p2os on the real robot as well as in our
> simulation (almost ;-)).
>
> Regards,
> Sabrina
>
>
>
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