How to minimze RAM usage?

[ibra-qss]

In my case I have an environment around 50m by 50m and maximum height of 5 meters, resolution is 0.2m. while mapping every thing is smooth, but once DSP receives map topic it overflown my ram and crash the whole system, when I increased the swap area, it worked but it is not good to use the whole system memory for just path planning. So, do you have any idea on how to minimize the ram usage rather than changing resolution parameter?

My hadrware 16 GB RAM intel core i7-13620H × 16 RTX4050 6GB (laptop)

[grammers]

Yes that is a big weakpoint of DSP. The best solution is to increase the resolution. I have done most experiments with 0.5+ m resolution.