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Hi @houhou
The Rasberry pi 3 is not a very powerful board and you may just lacking of memory to compile your whole catkin enviroment.
Even though the raspberry freezes, the compile targets will be already build (until it blocks of course) than means that you can just compile it twice after restarting it. Since the other last targets are already compiled the Raspberry will only compile the rest of your packages in the workspace not demanding a huge amount of memory for this last set of targets.
The other solution is more elegant and is about adding more memory to the board by generating a swap space, this will allow the compilation process to have more memory.
Hope that helps.
Cheers.
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