ROS with Simulink : Exception in thread "ROS Executor Thread": java.lang.OutOfMemoryError: Direct buffer memory

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ling yu 2020 年 8 月 12 日

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https://jp.mathworks.com/matlabcentral/answers/578487-ros-with-simulink-exception-in-thread-ros-executor-thread-java-lang-outofmemoryerror-direct-bu

編集済み: ling yu 2020 年 8 月 12 日

I use simulink connect with ROS. However, it always report error after a while ( about 2400 seconds)

Exception in thread "ROS Executor Thread": java.lang.OutOfMemoryError: Direct buffer memory
	at java.nio.Bits.reserveMemory(Bits.java:694)
	at java.nio.DirectByteBuffer.<init>(DirectByteBuffer.java:123)
	at java.nio.ByteBuffer.allocateDirect(ByteBuffer.java:311)
	at org.jboss.netty.channel.socket.nio.SocketSendBufferPool$Preallocation.<init>(SocketSendBufferPool.java:158)
	at org.jboss.netty.channel.socket.nio.SocketSendBufferPool.<init>(SocketSendBufferPool.java:40)
	at org.jboss.netty.channel.socket.nio.AbstractNioWorker.<init>(AbstractNioWorker.java:123)
	at org.jboss.netty.channel.socket.nio.NioWorker.<init>(NioWorker.java:44)
	at org.jboss.netty.channel.socket.nio.NioWorkerPool.createWorker(NioWorkerPool.java:34)
	at org.jboss.netty.channel.socket.nio.NioWorkerPool.createWorker(NioWorkerPool.java:26)
	at org.jboss.netty.channel.socket.nio.AbstractNioWorkerPool.<init>(AbstractNioWorkerPool.java:58)
	at org.jboss.netty.channel.socket.nio.NioWorkerPool.<init>(NioWorkerPool.java:29)
	at org.jboss.netty.channel.socket.nio.NioClientSocketChannelFactory.<init>(NioClientSocketChannelFactory.java:149)
	at org.jboss.netty.channel.socket.nio.NioClientSocketChannelFactory.<init>(NioClientSocketChannelFactory.java:114)
	at org.ros.internal.transport.tcp.TcpClient.<init>(TcpClient.java:71)
	at org.ros.internal.transport.tcp.TcpClientManager.connect(TcpClientManager.java:67)
	at org.ros.internal.node.topic.DefaultSubscriber.addPublisher(DefaultSubscriber.java:158)
	at org.ros.internal.node.topic.UpdatePublisherRunnable.run(UpdatePublisherRunnable.java:73)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
 

The simulink model is shown as below ,include one rospublisher(geomeory_msg/Point) and two rossubsribers(geomeory_msg/PointStamped, geomeory_msg/PoseStamped):