moveit2_server: bound the warm MoveItPy instance cache - #339
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The adapter kept one warm MoveItPy instance per model forever -- a ROS node plus planning context each, so serving many distinct robots crawled memory for the life of the server. The cache is now bounded LRU (default 5, MOVEIT_PY_ADAPTER_CACHE to change): a lookup refreshes recency, and shedding the oldest instance shuts its node down best-effort rather than letting the native state be silently collected.
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@warun7 I've actually removed ros2 and moveit2 support on the release/0.5.0 branch, since i think this creates a bit too much bloat and probably isn't needed for the scope of the repo's skills. I'm ok to merge this in if you need it, but if not let's drop it. |
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yeah if theres no support then it doesnt make sense |
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Summary
MoveItPyAdapterkept one warmMoveItPyinstance per model forever - keyed by model asset hash, never evicted. Each instance is a ROS node plus a planning context, so serving many distinct robots crawled memory for the life of the server.The cache is now bounded LRU:
MOVEIT_PY_ADAPTER_CACHE(floored at 1)shutdown()best-effort rather than letting the native ROS node be silently collected; a shutdown failure is swallowed so eviction always proceedsVerification
MoveItPyCacheTests: LRU shedding order, recency refresh on hit, shutdown-failure tolerance (all without rclpy, matching the suite's existing style)scripts/test/test-python.shall suites green