Exponential RAM usage during build of moveit_task_constructor_core on ROS2 Jazzy (Ubuntu 24.04, GCC 13.3.0, VMWare)

[DmTr774]

Issue Summary:

When building the package moveit_task_constructor_core with colcon build for ROS2 Jazzy on Ubuntu 24.04 LTC (running in VMWare 17.5.1, GCC 13.3.0), there is an exponential increase in RAM usage (up to 8GB and higher) at around 25% progress. Eventually, this causes the user session to crash/disconnect.

What I've tried:

• Building with colcon build --parallel-workers 1 (no improvement)
• Increasing RAM to 12GB (no improvement)
• No errors are printed in log, just hangs and session disconnects

Build log excerpt:

[110.520407] (moveit_task_constructor_core) StdoutLine: {'line': b'[ 25%] \x1b[32m\x1b[1mLinking CXX static library libgmock_main.a\x1b[0m\n'}
[110.559368] (-) TimerEvent: {}
[110.661630] (-) TimerEvent: {}
[110.763791] (-) TimerEvent: {}
[110.871742] (-) TimerEvent: {}
[110.993927] (-) TimerEvent: {}
[111.034508] (moveit_task_constructor_core) StdoutLine: {'line': b'[ 25%] Built target gmock_main\n'}
[111.094901] (-) TimerEvent: {}
[111.197836] (-) TimerEvent: {}
[111.299057] (-) TimerEvent: {}
[111.413023] (-) TimerEvent: {}
[111.514113] (-) TimerEvent: {}
[111.622516] (-) TimerEvent: {}
[111.726925] (-) TimerEvent: {}
[111.828154] (-) TimerEvent: {}
[111.933278] (-) TimerEvent: {}
[112.042111] (-) TimerEvent: {}
[112.145505] (-) TimerEvent: {}
[112.247864] (-) TimerEvent: {}
[112.349019] (-) TimerEvent: {}
[112.449800] (-) TimerEvent: {}
[112.553407] (-) TimerEvent: {}
[112.654711] (-) TimerEvent: {}
[112.759036] (-) TimerEvent: {}
[112.863394] (-) TimerEvent: {}
[112.973042] (-) TimerEvent: {}
[113.079247] (-) TimerEvent: {}
[113.181823] (-) TimerEvent: {}
[113.299837] (-) TimerEvent: {}
[113.400877] (-) TimerEvent: {}
[113.524454] (-) TimerEvent: {}
[113.633067] (-) TimerEvent: {}
[113.735520] (-) TimerEvent: {}
[113.837144] (-) TimerEvent: {}
[113.944221] (-) TimerEvent: {}
[114.049225] (-) TimerEvent: {}
[114.150221] (-) TimerEvent: {}
[114.257710] (-) TimerEvent: {}
[114.367572] (-) TimerEvent: {}
[114.471235] (-) TimerEvent: {}
[114.577617] (-) TimerEvent: {}
[114.685796] (-) TimerEvent: {}
[114.793638] (-) TimerEvent: {}
[114.905168] (-) TimerEvent: {}
[115.010381] (-) TimerEvent: {}
[115.115673] (-) TimerEvent: {}
[115.228431] (-) TimerEvent: {}
[115.332538] (-) TimerEvent: {}
[115.433455] (-) TimerEvent: {}
[115.547316] (-) TimerEvent: {}
[115.655829] (-) TimerEvent: {}
[115.760757] (-) TimerEvent: {}
[115.865708] (-) TimerEvent: {}
[115.966873] (-) TimerEvent: {}
[116.071157] (-) TimerEvent: {}
[116.172641] (-) TimerEvent: {}
[116.278417] (-) TimerEvent: {}
[116.383226] (-) TimerEvent: {}
[116.483838] (-) TimerEvent: {}
[116.587617] (-) TimerEvent: {}
[116.694858] (-) TimerEvent: {}
[116.797837] (-) TimerEvent: {}
[116.901091] (-) TimerEvent: {}
[117.003152] (-) TimerEvent: {}
[117.110700] (-) TimerEvent: {}
[117.213949] (-) TimerEvent: {}
[117.324501] (-) TimerEvent: {}
[117.431450] (-) TimerEvent: {}
[117.535731] (-) TimerEvent: {}
[117.645319] (-) TimerEvent: {}
[117.751146] (-) TimerEvent: {}
[117.855525] (-) TimerEvent: {}
[117.959998] (-) TimerEvent: {}
[118.062723] (-) TimerEvent: {}
[118.175952] (-) TimerEvent: {}
[118.286244] (-) TimerEvent: {}
[118.390525] (-) TimerEvent: {}
[118.492194] (-) TimerEvent: {}
[118.596542] (-) TimerEvent: {}
[118.705517] (-) TimerEvent: {}
[118.807202] (-) TimerEvent: {}
[118.912537] (-) TimerEvent: {}
[119.021723] (-) TimerEvent: {}
[119.125192] (-) TimerEvent: {}

Environment:

• ROS2: Jazzy
• Ubuntu: 24.04 LTC (VMWare 17.5.1)
• GCC: 13.3.0
• RAM: 8-12 GB (tested both)

Additional Details:

• No error messages, only hang and session crash.
• Only occurs during build of moveit_task_constructor_core.

Is this a known issue with ROS2 Jazzy, VMWare, or GCC 13.3.0? Are there any recommended workarounds or diagnostic steps specifically for moveit_task_constructor?

Any help or guidance appreciated.

[rhaschke]

MTC is template-heavy and thus requires a lot of memory during compilation.
Did you try the general hints for that case, e.g. from here?