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Compiling as DEBUG and running the nodelet manager with an additional

launch-prefix="valgrind --tool=memcheck --leak-check=yes --track-origins=yes --log-file=YOUR_LOG_FILE_PATH_AND_NAME_HERE"

worked well for me before.

Compiling as DEBUG and running the nodelet manager with an additional

launch-prefix="valgrind --tool=memcheck --leak-check=yes --track-origins=yes --log-file=YOUR_LOG_FILE_PATH_AND_NAME_HERE"

where it is launched in a launch file worked well for me before.