Debugging robotics software is often about finding problems that don't appear during a normal test run.

On a production robot vacuum cleaner, I worked on an issue where memory usage gradually increased during long cleaning cycles, eventually leading to performance degradation and crashes.

I reproduced the issue, profiled the application, traced ROS2 message flow, and reviewed the sensor-processing modules to identify the underlying cause. The investigation pointed to unbounded message accumulation and improper object/resource lifecycle management.

After refactoring the affected module and improving memory/resource handling, I validated the changes through extended runs.

Result: stable memory usage and significantly improved reliability during long-duration operation.

This was a good reminder that in robotics, finding the root cause is often more important than simply treating the symptom.

ROS2 | C++ | Python | Navigation | Sensor Processing | Robotics Debugging

#ROS2 #Robotics #C++ #Python #AutonomousRobots #RobotSoftware