Memory leaks into OccupancyGridClient

[letis33]

The current grid object is not removed from root object into OccupancyGridClient.processMessage() function.
=> only from sceneNode

Memory is growing very fast...

processMessage(message){
  // check for an old map
  if (this.currentGrid) {
	  // check if it there is a tf client
	  if (this.currentGrid.tfClient) {
	    // grid is of type ROS3D.SceneNode
	    this.currentGrid.unsubscribeTf();
	  }

**==>**	  this.sceneNode.remove(this.currentGrid);

	  this.currentGrid.dispose();
  }

• Library Version: latest (develop branch)
• ROS Version: Noetic
• Platform / OS: Ubuntu 20.04

Steps To Reproduce

Launch continuousmap.html

Expected Behavior

mrdoob.github.io/stats.js/build/stats.min.js shall have memory stable
=> about 150MB in my case

Actual Behavior

Memory is growing until Chrome freeze
=> several giga bytes

Quick fix

this.rootObject.remove(this.currentGrid); instead of this.sceneNode.remove(this.currentGrid);

[MatthijsBurgh]

I think your solution is not complete. Because of

ros3djs/src/navigation/OccupancyGridClient.js

Lines 86 to 103 in 64ba1a2

	// check if we care about the scene
	if (this.tfClient) {
	this.currentGrid = newGrid;
	if (this.sceneNode === null) {
	this.sceneNode = new ROS3D.SceneNode({
	frameID : message.header.frame_id,
	tfClient : this.tfClient,
	object : newGrid,
	pose : this.offsetPose
	});
	this.rootObject.add(this.sceneNode);
	} else {
	this.sceneNode.add(this.currentGrid);
	}
	} else {
	this.sceneNode = this.currentGrid = newGrid;
	this.rootObject.add(this.currentGrid);
	}

When tfclient resolves to false, I think this.rootObject.remove(this.currentGrid) is correct, but when tfclient resolves to true, this.sceneNode.remove(this.currentGrid) is correct. Do you agree?

[letis33]

Hi,

I'm totally agree with you.

Thanks for your reply.