(ROS) App crashes due to memory allocated

Question

Hi everyone,

I'm new to Unity, and I'm currently using the Unity and ROS# to design and program my UI to communicate with the ROS machine.

I'm able to publish and subscribe to data such as sensor data and compressed image data in my UI. But when I hold my UI on the same page for around 10 to 15 mins, my app will crash automatically. At the same time, I can find my memory was being accumulated more than 10GB in the System Monitor on the Ubuntu system.

I tried searching online and find this Caching.ClearCache()in Unity API to clear the application's cache. And added this in my void FixedUpdate()

May I know am I on the right way to try to solve this kind of problem? or which way should think about it.

Thank you so much.

Answer 1

Answer by andrew-lukasik · 5 days ago

(...) compressed image data (...)

Are you creating new image every time the data changes?
Are you releasing or reusing that image?

If the answer to the question #1 is "yes" and #2 is "no" - here is the reason for app crashing. Release or reuse.

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ling_yeo · 5 days ago 0

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Hi Andrew, Thank you for your answer. I was using the following function to display video in my UI:

 private void ProcessCameraPaintImage(byte[] a_data)
         {
             if(a_data != null)
             {
                 Texture2D t_texture2D = new Texture2D(1,1);;
                 t_texture2D.LoadImage(a_data);
                 m_campaint_rawimage.texture = t_texture2D;
                 m_campaint_rawimage.color = Color.white;
             }
         }

and I'm not very sure I'm creating a new image every time.

andrew-lukasik ling_yeo · 4 days ago 1

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new Texture2D(1,1); allocates a small buffer and then t_texture2D.LoadImage(a_data); allocates a buffer size of a_data.Length bytes. I see no code related to releasing the memory that was allocated in the previous ProcessCameraPaintImage call - which is precisely what you need to do here to fix this memory leak.

try this:

 void ProcessCameraPaintImage(byte[] a_data)
 {
     if(a_data != null)
     {
         if( m_campaint_rawimage.texture!=null )
             Destroy( m_campaint_rawimage.texture );
         
         var tex = new Texture2D(1,1);;
         tex.LoadImage(a_data);
 
         m_campaint_rawimage.texture = tex;
         m_campaint_rawimage.color = Color.white;
     }
 }

(ROS) App crashes due to memory allocated

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