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It is weird that when I launch my ros program my os alert "too many files open". By using "lsof", I found rosout node has numerous sockets with "can't identify protocol"(as the following img shows). How did this happen?
Since these are socket file descriptors, it looks like rosout has a lot of open sockets. ROS creates a socket for each connection between a publisher and a subscriber, so there can be a lot of file descriptors involved, but even on robots with hundreds of nodes this isn't usually a problem.
You may be able to tell what these open sockets are connected to and what state they're in with netstat -lp. The -l option lists open sockets, and the -p option lists the process that owns that socket.
the problem is caused by rosout do not release file descriptor correctly when a node exit with any error. As what I describe here
I had some time to dig into this more deeply and have a proposed fix here: https://github.com/ros/ros_comm/pull/...
Asked: 2016-12-19 21:34:17 -0500
Seen: 423 times
Last updated: Dec 20 '16
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