So far there is no complete tutorial to guide users how to create an irobot create in gazeboros. I find a helpful answer from Saurav Agarwal at [1]. Based on his anwser, I post my steps here:
Problem Description:
The memory leak problem was found when I tested the ROS simulation of a large number of robots, say, 50. Basically I have one simulator node and 50 robot controller nodes. Occasionally after running the program for a while, the simulator node may throw a bad_alloc exception and then terminated.
