ROS2 Memory Usage (no DDS)

General
6

I’m creating a “Foxy” ROS2bot on a Raspberry Pi3B+ (64-bit ARM Quad-Core 1.4GHz 1GB RAM) which has 680MB free RAM running Ubuntu 20.04 64-bit Server.

I expect to have Nodes for:

  • Left/Right Motor
  • Left/Right Motor Encoders
  • BNO055 IMU
  • ToF Distance Sensor
  • Pan Servo for ToF Distance Sensor
  • YDLIDAR
  • PiCamera (only publish 320x240 images for off-board resources - no onboard image subscribers)
  • Health Node pubs: (battery voltage, cpu load, cpu temp …)
  • Baggers for sensor and health data

And nodes not characterized in “ROS2 Memory Usage”:

  • Encoder/IMU fusion localization service
  • Path to Goal w/obstacle avoidance re-routing action
  • Stationary LIDAR scan localization against reference map (w/o map development)

Do I read the charts and the report correctly, that my bot with 680MB free RAM should not be memory constrained?

(I’m guessing the bot will be processing constrained though.)