fix memory leak on service call #774
Conversation
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I can confirm that I have observed this same issue with rosbridge gradually consuming a lot of CPU and memory after running for several hours, causing other ROS nodes to slow down, and this PR appears to fix the issue. |
| if service_class in clients: | ||
| client = clients[service_class] | ||
| else: | ||
| client = node_handle.create_client(service_class, service) | ||
| clients[service_class] = client |
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This does not work if you have multiple services with the same service type but different names. Let's say you have two identical services under a different namespace:
/robot_1/do_something/robot_2/do_something
You will only call one of these services (the one you called first), as they have the same service type.
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I'll consider it, thanks!
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@achim-k |
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| result = client.call(inst) | ||
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| node_handle.destroy_client(client) |
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No.
And I know that node_handle.destroy_client(client) does not free all memory.
Adding this code, memory leak issue is not solved.
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My first commit was this, but I found it didn't release all the memory.
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releasing resources by node_handle.destroy_client(client) is rclpy responsibility, so I'll change this PR, and I'll also submit to fix this issue to rclpy repo.
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If you create a rclpy issue / PR, could you add a link here? Thanks!
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@achim-k PR has been updated, please have a check! |
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| result = client.call(inst) | ||
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If you create a rclpy issue / PR, could you add a link here? Thanks!
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@achim-k The isue: ros2/rclpy#1034 has been created. |
Public API Changes
None
Description
A memory leak occurs each time a service call is invoked from rosbridge client.
This means calling service call from the client leads to resource exhaustion.
This fixes #772
#772