I have created a python node that just subscribes /map from gmapping. Callback function does nothing, only returns null. By starting this node I can see an increase of around 4gb in my ram. I know each /map message have around 100mb.

Can anyone tell me if this is normal behaviour?

[EDIT]:

import rospy
from nav_msgs.msg import OccupancyGrid

def callback(data):
    return None

if __name__ == '__main__':
    rospy.init_node('test_node')
    rospy.Subscriber("/map", OccupancyGrid, callback)
    rospy.spin()

I also have realized that running rostopic echo /map will consume even more memory ending up crashing the system...

[EDIT 2]:

I’ve tried to decrease map resolution from 0.01 to 0.025 and now it works fine.

Thanks