[nav2_costmap_2s]: free correctly the memory in the InflationLayer #4424
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Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
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Note: performance was measured and this is slightly faster, even if we need to recompute the index. Probably a benefit at the level of the CPU cache Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
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doisyg
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Jun 12, 2024
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Tested at Dexory, great memory gains proportional to the number of inflated cells. In other words bigger gains with big maps and small resolution.
Will wait to see if @SteveMacenski has a say and then we can merge.
@BriceRenaudeau fyi
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…os-navigation#4424) * [nav2_costmap_2s]: free correctly the memory in the InflationLayer Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * Remove 4 redundant bytes from CellData in Inflationlayer Note: performance was measured and this is slightly faster, even if we need to recompute the index. Probably a benefit at the level of the CPU cache Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * formatting Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
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…os-navigation#4424) * [nav2_costmap_2s]: free correctly the memory in the InflationLayer Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * Remove 4 redundant bytes from CellData in Inflationlayer Note: performance was measured and this is slightly faster, even if we need to recompute the index. Probably a benefit at the level of the CPU cache Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * formatting Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
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…os-navigation#4424) * [nav2_costmap_2s]: free correctly the memory in the InflationLayer Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * Remove 4 redundant bytes from CellData in Inflationlayer Note: performance was measured and this is slightly faster, even if we need to recompute the index. Probably a benefit at the level of the CPU cache Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * formatting Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
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Basic Info
Description of contribution in a few bullet points
When using very large maps ( we are talking about maps in the order of 200 Mb), we noticed that the
InflationLayerwould consume a VERY large amount of memory.After investigation, we realized that:
See the difference before and after:
Before
After
The impact in terms of performance (CPU usage) should be negligible
Description of documentation updates required from your changes
None
Future work that may be required in bullet points
None
For Maintainers: