[ros-users] [Discourse.ros.org] [Embedded] Fast-RTPS Memory Usage - Please Help
ros.discourse at gmail.com
Wed Apr 26 15:27:52 UTC 2017
I am building a DDS node that will interact with a ROS2 node. I have found that the Fast-RTPS DDS middleware is using what I consider a very excessive amount of memory.
Running the HelloWorld example allocated 404,340 KB of memory. This seems extremely large for such a simple example.
USER PID %CPU %MEM VSZ RSS TTY STAT START TIME COMMAND
tco 29836 0.0 0.1 **404340** 10320 pts/0 Sl 15:41 0:01 ./HelloWorldExample publisher
When I build out my actual application the VSZ gets as large at 3 Gigs. Each publisher and subscriber that my application creates adds Megs to the memory usage even if the actual data is only a single integer.
Is this level of memory usage expected or is it possible get Fast-RTPS running in under 40 megs with approximately 20 topics involved? My embedded target has 256 Megs of RAM total.
Thank you for any help or advice you can provide.
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