From eedab07c353e78690c2fe3b64c1acd17dfd2ba2f Mon Sep 17 00:00:00 2001
From: Samuel Lindgren <samuel@dynorobotics.se>
Date: Tue, 23 Aug 2022 14:56:01 +0000
Subject: [PATCH] Increase scan filter queue_size

---
 src/slam_toolbox_common.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/slam_toolbox_common.cpp b/src/slam_toolbox_common.cpp
index 989c9114..9b9405c6 100644
--- 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));