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how to configure move_base to run with less memory

asked 2014-01-09 01:42:30 -0600

pkohout gravatar image

updated 2014-01-10 00:56:16 -0600

Hi,

i am simulating serveral robots simultaneously, i want to do that with around 5-10 robots. But every instance of move_base need at least 1Gb of RAM ,some times they need up to 1.8GB (per instance of move_base).

Why does move_base need so much memory ? Can i reduce the amount of memory if i use a smaller map, or are there any other ways to work with move_base more memory efficently.

regards peter

edit: answer: if you reduce the map size, the memory size is reduced nerly by the smae percentage, map size reduzed by 75% reduces memory by 80% for me.

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is it enough if i configure the slam to build a smaller map or do i need to search/build a smaller map for stage?

pkohout gravatar imagepkohout ( 2014-01-09 22:41:09 -0600 )edit

SLAM is enough. move_base won't know about anything else.

dornhege gravatar imagedornhege ( 2014-01-09 23:05:11 -0600 )edit

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answered 2014-01-09 02:09:52 -0600

dornhege gravatar image

How large are your maps? It's probably the internal costmaps being built. So a smaller map will use less memory.

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map was -100 to 100 (standard slam_gmapping values) changed it to -35 to 35 and now it works with less memory , changig the map size solved the problem

pkohout gravatar imagepkohout ( 2014-01-11 03:03:44 -0600 )edit

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Asked: 2014-01-09 01:42:30 -0600

Seen: 75 times

Last updated: Jan 10 '14