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compiling the package [costmap_2d] is extremely slow on Jetson TK1

asked 2016-12-28 08:27:55 -0500

ZOU Lu gravatar image

Have anyone experienced compiling costmap_2d on a Nvidia Jetson TK1 with Ubuntu 16.04 and ROS Kinetic? I've tried to compile it on 2 such boards. They all compiled very very slow! In the extreme case, I tried to compile costmap_2d in my own catkin workspace with the command catkin_make with or without -j5, --use-ninja. In this case, costmap_2d simply failed to finish compiling. It stuck at

Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/costmap_2d/costmap_2d_cloud
Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/costmap_2d/costmap_2d_markers

The linking procedure lasts forever, never succeed to accomplish.

The only way I made it finish is by invoking catkin_make_isolated instead of catkin_make, and the linking still takes very long time when compared to other packages (like lasting 10min+ or so).

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answered 2016-12-29 11:10:50 -0500

ZOU Lu gravatar image

updated 2016-12-29 11:11:13 -0500

I have finally succeeded to compile costmap_2d with catkin_make alone. Just push my patience to the extreme, and it took 40+ minutes to link to success!

Still, can any one kindly point out why is this happening, any hints will be appreciated. Thanks!

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Linking can be a very RAM-intensive process; perhaps your system is using swap while linking?

ahendrix gravatar image ahendrix  ( 2016-12-29 12:08:14 -0500 )edit

Thank you for answering! It probably didn't used the swap, the TK1 has 4GB memory. And I even tried to compiled with only one thread (-j1). I also tried free -m to see memory consumption, there are more than 2GB free memory available.

ZOU Lu gravatar image ZOU Lu  ( 2016-12-29 19:36:31 -0500 )edit

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Asked: 2016-12-28 08:27:55 -0500

Seen: 494 times

Last updated: Dec 29 '16