Possible memory leak | multiple plans

[DavidB-CMU]

Here's how to replicate the problem:

• 1. initialize an environment with robot
• 2. instantiate CBiRRT planner and request plan
• < repeat 2 >
  It eventually gobbles up all my RAM.

A second issue I've noticed is that if CBiRRT gets stuck in a weird state and fails to find a solution, subsequent plans with different parameters can also fail to find a solution.

The weird state is seen with this output:

Attached Solver Found a Solution!
Constrained IK solution(s) found!

< repeats forever until 25 sec timeout >

If you make a new request in the same environment, it will also fail in the same way. However if I create a new environment it will find a solution.

So unfortunately the most reliable way to test CBiRRT is to create a new environment for every, single planning request.

This ticket is just a placeholder. More debugging is required.

[cdellin]

+1 for continuing to work on this ... the RAM gobbling is certainly a problem, but could be expected behavior if it's a difficult problem and it's still within the timeout. Does it ever exceed the timeout parameter that you pass? Also, those messages (Constrained IK solution(s) found!) are normal as the trees are being extended, and if you see a lot of them it usually means the trees think they're making progress connecting. But if there's a narrow passage somewhere, they may continue indefinitely (until timeout).

It's definitely a great idea to come up with some test cases which provoke any odd behavior you're seeing. The planner should be completely stateless, and it should always be unnecessary to create a new environment!