Critical memory leak

[duburcqa]

Hi,

There is a huge memory leak during the implicit conversion from numpy array to eigen matrix. Here is a script to reproduce the results on the attached figure.

import numpy as np
import pinocchio as pnc

pnc_model = pnc.buildModelFromUrdf('cartpole.txt')
pnc_data = pnc_model.createData()

q = np.zeros((2, 1))
v = np.zeros((2, 1))
for _ in range(10000000):
    pnc.forwardKinematics(pnc_model, pnc_data, q, v)

valgrind --tool=massif python test.py

cartpole.txt

I hope it is possible to fix it.

Best

[jcarpent]

@duburcqa I checked on my side and with eigenpy 2.0.2, I don't have any leack. Which version of EigenPy are you using?

[duburcqa]

I'm using Python3.6, Eigenpy 2.0.2 and Pinocchio 2.2.2 (both installed using sudo apt install robotpkg-py36-pinocchio robotpkg-py36-eigenpy). I check with Python 2.7.17 and I have the same issue. I'm using Ubuntu 18.04.4.

[jcarpent]

@duburcqa Could check PR #158?

[jcarpent]

fixed by #158.

[duburcqa]

I will have a look as soon as possible, probably tomorrow morning. Thanks !

[jcarpent]

@duburcqa Any news?

[duburcqa]

@jcarpent Sorry for the delay, I wasn't able to build pinocchio from source before now. I have tested the same script on Ubuntu 18 with boost 1.71, eigenpy 2.3.1 and pinocchio 2.4.2 and the issue is still there :/ I'm afraid this issue should be reopened.

PS: I should be able to try patch or experimental branches much faster now

[jcarpent]

I've tried on my side and I don't have it. Could you please provide a Docker file with all the required content?

[jcarpent]

Could you also provide the full details of your screenshot and the resulting Valgrind output? Otherwise, it is hard to start the debug phase!

[jcarpent]

The leak is not coming from EigenPy but from Pinocchio. The destroyer of Eigen::MatrixBase<> is properly called. Including eigenpy.hpp in all the files of the Pinocchio bindings should solve the issue!

[duburcqa]

Could you also provide the full details of your screenshot and the resulting Valgrind output? Otherwise, it is hard to start the debug phase!

Here is the build script I use https://github.com/Wandercraft/jiminy/blob/master/build_tools/build_install_deps_linux.sh . You can run it in any Linux-based container.

[duburcqa]

Including eigenpy.hpp in all the files of the Pinocchio bindings should solve the issue!

I didn't modified the source of eigenpy and pinocchio.