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    ros中dynamic_reconfigure相关程序卡住和爆内存问题解决办法

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    • xiaoqiang
      xiaoqiang last edited by

      如果在打开rqt 的dynamic_reconfigure界面,对某些node的参数进行配置时,触发了界面卡顿、死机情况。比如执行下列命令时,死机一段时间然后恢复正常,看内存可以发现swap被启用了,这是内存被爆的痕迹。

      rosrun dynamic_reconfigure dynparam get /node_name
      

      可能的原因是:这些node编译时时开启了release优化即-O3级别优化,导致了dynamic_reconfigure的server库异常工作。
      解决办法:将cmakelist文件中设置的优化级别降低,比如降低到-O2。如果是在catkin_make编译节点时设置的优化,可以删除build文件夹,同时去除-DCMAKE_BUILD_TYPE=Release 选项

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