Memory leak from bridging IMU messages from Harmonic to Humble

[EmmanuelMess]

For the simulation I have a Harmonic container based on ghcr.io/sloretz/ros:jazzy-simulation and I run gz sim -r with an sdf with:

      <link name="imu_link">
        <pose>0 0 0 0 0 0</pose>
        <sensor name='imu_gnss' type='imu'>
          <topic>gnss/imu</topic>
          <update_rate>200</update_rate>
          <always_on>true</always_on>
          <visualize>true</visualize>
        </sensor>
      </link>

Then do:

ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock &
ros2 run ros_gz_bridge parameter_bridge /gnss/imu@sensor_msgs/msg/Imu[gz.msgs.IMU &

for recording a bag I do:

docker network create -d bridge gazebo-network
docker network connect gazebo-network gnss_sim_container
docker run -it --rm --network gazebo-network \
           --volume ${PWD}/output:/output:rw \
           --workdir /output \
           osrf/ros:humble-desktop-full /bin/bash
           
cd ~/ros2_ws
colcon build # Builds some custom messages
source install/setup.bash
cd /output
ros2 bag record --use-sim-time --storage sqlite3 --all

After around 2 minutes of simulation it eats up 20GB of RAM. If I don't have the IMU it doesn't leak.

[EmmanuelMess]

Nevermind, the leak is not on the bridge.