[ros-users] [Discourse.ros.org] [Embedded] Fast-RTPS Memory Usage - Please Help

[NotMe]

Hello,

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.

nm.






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