Increase scan filter queue_size

SteveMacenski · Aug 24, 2022 · eedab07 · eedab07
1 parent 62bbf07
commit eedab07
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/slam_toolbox_common.cpp b/src/slam_toolbox_common.cpp
@@ -217,7 +217,7 @@ void SlamToolbox::setROSInterfaces()
     shared_from_this().get(), scan_topic_, rmw_qos_profile_sensor_data);
   scan_filter_ =
     std::make_unique<tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>>(
-    *scan_filter_sub_, *tf_, odom_frame_, 1, shared_from_this(),
+    *scan_filter_sub_, *tf_, odom_frame_, 5, shared_from_this(),
     tf2::durationFromSec(transform_timeout_.seconds()));
   scan_filter_->registerCallback(
     std::bind(&SlamToolbox::laserCallback, this, std::placeholders::_1));