[quote="sagniknitr, post:1, topic:2630"] What is the default heap allocator in ROS ? [/quote] In ROS 1 and ROS 2 the default allocators (new/delete, which are based on malloc and free) are not overridden by default. In ROS 1 you can provide your own C++ style allocator for messages, but that's about it. In ROS 2 you can provide your own C++ style allocator for messages, publishers, subscribers, and the executor (the thing that does `spin()`). You can also provide a custom allocator when using the C api's in ROS 2, using an allocator struct, but the default again uses malloc and free. [quote="sagniknitr, post:1, topic:2630"] How is it different in case of nodelets/components used in ros 2 ? [/quote] There are no nodelets in ROS 2, but you can compose multiple nodes into a single process in ROS 2, like you could with nodelets in ROS 1. Composition of nodes, whether by nodelets in ROS 1 or with normal Nodes in ROS 2, has no bearing on the use of the default or custom allocators. The decision is orthogonal as far as I can see. --- [Visit Topic](https://discourse.ros.org/t/heap-allocator-in-ros/2630/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: