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List:       ros-users
Subject:    [ros-users] [PCL-users]  Minimizing compiler memory, package pcl_ros
From:       rusu () willowgarage ! com (Radu Bogdan Rusu)
Date:       2011-02-24 17:26:41
Message-ID: 4D6694D1.9010604 () willowgarage ! com
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Tom,


On 02/24/2011 05:33 AM, Jochen Sprickerhof wrote:
> * futureignobel<futureignobel at gmail.com>  [2011-02-24 14:22]:
> > does anybody know, how to minimize the memory needed for gcc/g++ to
> > compile a particular package? I'm trying to compile the pcl_ros package
> > on a BeagleBoard-xM, but the compiler crashes each time because the
> > cc1plus process is being killed due to low memory (BB-xM has 500MB of
> > RAM). I've read a lot about this already, but found no solution. I've
> > already been able to compile openni and flann (which also caused errors).
> 
> why don't you cross compile it on your workstation?

Jochen's solution is definitely the _right way_ to do this, imho.

PCL is a templated library and it might take up to 500MB / GCC translation unit to \
compile in release + optimizations  mode. This is unavoidable at the moment. In \
general, development workstations should be different than the ones you want  to \
deploy your code on.

PCL_ROS is using a variety of hardcore ROS concepts and PCL, and is super heavy on \
compile time at the moment. We've  identified a few critical parts of ROS that we \
will be working on improving with respect to this issue, but that might  take some \
time (https://code.ros.org/trac/ros/ticket/3362 for example).


We're going to start a discussion about PCL2.x and ways of improving compile time \
performance soon. Hopefully you can  join us! :)

PS. As usual, pcl-users at code.ros.org is the right forum for PCL related questions. \
Thanks!

Cheers,
Radu.


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