massif——程序堆内存分析工具

• 1.安装教程

sudo apt-get install massif-visualizer

sudo apt-get install valgrind

• 2.使用方法

 2.1 在roslaunch文件中增加launch-prefix，

例如：

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" 
      launch-prefix="valgrind --tool=massif --time-unit=B --trace-children=yes --massif-out-file=/home/aicrobo/massif.out.%p" 
      args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename backpack_2d_localization.lua
          -load_state_filename $(arg load_state_filename)"
      output="screen">
    <remap from="echoes" to="horizontal_laser_2d" />
  </node>

 2.2 程序运行后，使用massif-visualizer查看结果

~$ massif-visualizer massif.out.15836