is running beyond virtual memory limits.【虚拟内存超出运行】

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虚拟内存超出运行

报错信息:

Container [pid=30866,containerID=container_1600927953860_0003_02_000001] is running beyond virtual memory limits. Current usage: 117.3 MB of 1 GB physical memory used; 2.2 GB of 2.1 GB virtual memory used. Killing container.

在这里插入图片描述
yarn Container默认虚拟内存设置大小为目前物理机器得2.1倍2.1G,而目前yarn Container占用虚拟内存大小为2.2G超过2.1G。
解决办法配置yarn-site.xml

方法一:增大默认大小:
	<property>
	   <name>yarn.nodemanager.vmem-pmem-ratio</name>
	   <value>5</value>
	</property>
方法二:关闭程序yarn得虚拟内存
	<property>
	   <name>yarn.nodemanager.vmem-check-enabled</name>
	   <value>false</value>
	</property>

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/** * @brief Callback function for dynamic reconfiguration of DWA planner parameters * * @param config Reference to the configuration object that stores the updated parameters * @param level The level of reconfiguration, unused in this function */ void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) { // If the setup has been completed and restore_defaults flag is set, restore default configuration if (setup_ && config.restore_defaults) { config = default_config_; config.restore_defaults = false; } // If setup has not been completed, store default configuration and set the setup flag to true if ( ! setup_) { default_config_ = config; setup_ = true; } // Update generic local planner parameters base_local_planner::LocalPlannerLimits limits; limits.max_vel_trans = config.max_vel_trans; limits.min_vel_trans = config.min_vel_trans; limits.max_vel_x = config.max_vel_x; limits.min_vel_x = config.min_vel_x; limits.max_vel_y = config.max_vel_y; limits.min_vel_y = config.min_vel_y; limits.max_vel_theta = config.max_vel_theta; limits.min_vel_theta = config.min_vel_theta; limits.acc_lim_x = config.acc_lim_x; limits.acc_lim_y = config.acc_lim_y; limits.acc_lim_theta = config.acc_lim_theta; limits.acc_lim_trans = config.acc_lim_trans; limits.xy_goal_tolerance = config.xy_goal_tolerance; limits.yaw_goal_tolerance = config.yaw_goal_tolerance; limits.prune_plan = config.prune_plan; limits.trans_stopped_vel = config.trans_stopped_vel; limits.theta_stopped_vel = config.theta_stopped_vel; // Call reconfigureCB function of the planner_util_ object with updated limits and restore_defaults flag planner_util_.reconfigureCB(limits, config.restore_defaults); // Call reconfigure function of the dp_ object with updated configuration dp_->reconfigure(config); }
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