memory usage increasing

[yueyihua]

No description provided.

[kennyjchen]

Yes, memory will increase with more keyframes placed in the environment.

[baptisteLynx]

Hello !
First thanks for the package, I have great results and the localization is really robust!

I have the same “problem” as yueyihua, with the memory increasing as the mission goes on. I'm on Orin Nx, Ubuntu 20.04, Ros Noetic.

I was wondering if it was possible to set up some kind of buffer that could save and reset keyframes as they go (like a snapshot) and that would allow the memory used to be reduced regularly?

It would make the code even more lightweight!

Thanks again !