Large-scale map growth stalls with new_factors=0 new_values=0 logs

[mahmood-ul-hasan]

Description When building a large‐scale map, the system initially adds factors and values correctly, but after a certain point the map stops growing. The console repeatedly logs:

[2025-05-13 09:34:28.626] [global] [info] |new_factors|=0 |new_values|=0
[2025-05-13 09:34:33.631] [global] [info] |new_factors|=0 |new_values|=0
...

No further poses or landmarks are introduced, and the optimization appears idle.

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Expected Behavior

• New sensor measurements should continually generate new factors and values, extending the pose graph or map.
• The mapping thread should process incoming data at the configured rate without stalling.

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Actual Behavior

• After a threshold (~4,730 factors / 453 values), the system logs new_factors=0 new_values=0 infinitely and no new map elements appear.
• Restarting or resetting the map is required to resume mapping.

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Relevant Logs

fixing x12461  
fixing x12462  
…  
factors:4730 fixed:116 values:453 stamps:453  
[2025-05-13 09:34:28.626] [global] [info] |new_factors|=0 |new_values|=0  
[2025-05-13 09:34:33.631] [global] [info] |new_factors|=0 |new_values|=0  
… (repeats every ~5 s)  

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Request Please advise on how to restore continuous mapping growth. Are there known limitations in the current factor handling or configuration parameters that cap the map size? Any suggestions for debugging or configuration to avoid this stall would be appreciated.

[Breaking-Bugs]

I have not experienced this problem so far even with larger maps. Could you share what hardware you are using and your config files? Is it a public dataset and are you using glim_rosbag or glim_rosnode?