ROS with Simulink : Exception in thread "ROS Executor Thread": java.lang.​OutOfMemor​yError: Direct buffer memory

I use simulink connect with ROS. However, it always report error after a while ( about 2400 seconds)

Exception in thread "ROS Executor Thread": java.lang.OutOfMemoryError: Direct buffer memory
	at java.nio.Bits.reserveMemory(Bits.java:694)
	at java.nio.DirectByteBuffer.<init>(DirectByteBuffer.java:123)
	at java.nio.ByteBuffer.allocateDirect(ByteBuffer.java:311)
	at org.jboss.netty.channel.socket.nio.SocketSendBufferPool$Preallocation.<init>(SocketSendBufferPool.java:158)
	at org.jboss.netty.channel.socket.nio.SocketSendBufferPool.<init>(SocketSendBufferPool.java:40)
	at org.jboss.netty.channel.socket.nio.AbstractNioWorker.<init>(AbstractNioWorker.java:123)
	at org.jboss.netty.channel.socket.nio.NioWorker.<init>(NioWorker.java:44)
	at org.jboss.netty.channel.socket.nio.NioWorkerPool.createWorker(NioWorkerPool.java:34)
	at org.jboss.netty.channel.socket.nio.NioWorkerPool.createWorker(NioWorkerPool.java:26)
	at org.jboss.netty.channel.socket.nio.AbstractNioWorkerPool.<init>(AbstractNioWorkerPool.java:58)
	at org.jboss.netty.channel.socket.nio.NioWorkerPool.<init>(NioWorkerPool.java:29)
	at org.jboss.netty.channel.socket.nio.NioClientSocketChannelFactory.<init>(NioClientSocketChannelFactory.java:149)
	at org.jboss.netty.channel.socket.nio.NioClientSocketChannelFactory.<init>(NioClientSocketChannelFactory.java:114)
	at org.ros.internal.transport.tcp.TcpClient.<init>(TcpClient.java:71)
	at org.ros.internal.transport.tcp.TcpClientManager.connect(TcpClientManager.java:67)
	at org.ros.internal.node.topic.DefaultSubscriber.addPublisher(DefaultSubscriber.java:158)
	at org.ros.internal.node.topic.UpdatePublisherRunnable.run(UpdatePublisherRunnable.java:73)
	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
	at java.lang.Thread.run(Thread.java:748)
 

The simulink model is shown as below ,include one rospublisher(geomeory_msg/Point) and two rossubsribers(geomeory_msg/PointStamped, geomeory_msg/PoseStamped):

Answer 1

[Himanshu]

Hey,

The error 'java.lang.OutOfMemoryError: Direct buffer memory' means MATLAB is running out of Java Heap memory. To work around this issue simply increase the Java Heap using the following documentation link:

https://www.mathworks.com/help/matlab/matlab_external/java-heap-memory-preferences.html

This issue can occur when using a computer screen with many pixels (e.g. very high resolution screen). The reason for this is that MATLAB must allocate enough memory in the Java Heap to account for all the pixels a figure takes. As such, when there are a lot of pixels, the amount of memory necessary is higher. While MATLAB's default heap size is sufficient in most cases, in cases where the total number of pixels is high (e.g. very high resolution screens, multiple screens, etc.) a larger heap size may be necessary.

Hope this helps!