I also did a small test with a basic talker/listener. I used the "two_node_pipeline" from the intra process demo code: > ros2/demos/intra_process_demo/include/two_node_pipeline/two_node_pipeline.cpp The only change I made was to change the time interval in the timer on line 49. from 1s to 10ms to get results faster. I got the following results: Starting memory 21 420 after 80 000 publications: 28 100 after 100 000 publications: 29 948 after 175 000 publications: 37 724 after 200 000 publications: 39 308 And continues to rise. I then changed both nodes by turning off intra-process communication, to verify that it in fact was something with the intra process communication causing the increased memory usage: Starting memory: 18036 after 200 000 publications: 18036 My original program sending a jpeg image over ros2 15 times per second has now been running for 6 days. It had a starting reserved memory of 33M, and has monotonically increased its reserved memory to 981M. I did the same test on the program with intra-process communication turned off and the memory did not increase. --- [Visit Topic](https://discourse.ros.org/t/increasing-memory-usage-for-publishing-nodes-with-enabled-intra-process-communication/3261/5) 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: