Skip to content

Fix parameter server memory requirements #365

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
pablogs9 merged 1 commit into from
Mar 17, 2022
Merged

Fix parameter server memory requirements #365

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions _docs/tutorials/programming_rcl_rclc/parameters/parameters.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ Note: micro-ROS parameter server is only supported on ROS 2 Galactic distributio

## Memory requirements

The parameter server uses 4 services and an optional publisher, this needs to be taken into account on the `rmw-microxredds` package memory configuration:
The parameter server uses 5 services and an optional publisher, this needs to be taken into account on the `rmw-microxredds` package memory configuration:

```json
# colcon.meta example with memory requirements to use a parameter server
Expand All @@ -68,7 +68,7 @@ The parameter server uses 4 services and an optional publisher, this needs to be
"-DRMW_UXRCE_MAX_NODES=1",
"-DRMW_UXRCE_MAX_PUBLISHERS=1",
"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
"-DRMW_UXRCE_MAX_SERVICES=4",
"-DRMW_UXRCE_MAX_SERVICES=5",
"-DRMW_UXRCE_MAX_CLIENTS=0"
]
}
Expand Down Expand Up @@ -193,4 +193,4 @@ To destroy an initialized parameter server:
rclc_parameter_server_fini(&param_server, &node);
```

This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.
This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.