My project, is a ROS2 Humble / Gazebo Garden.

I'm trying to run a long running simulation (reinforcement learning), and am facing memory issues. When running the simulation without lidar, the simulation performs perfectly fine. However, when adding the lidar to the robot, the gz sim server process eats memory until the inevitable crash. Does anyone have any ideas as to the cause of this??

Our robot is described using xacro. We base our lidar.gazebo.xacro on the example provided by gz-sim which can be reached here: https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/gpu_lidar_sensor.sdf

Thanks for your help