Add queue_size

AprilRobotics · Nov 18, 2022 · e4ad5f9 · e4ad5f9
1 parent 0da016c
commit e4ad5f9
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/apriltag_ros/launch/continuous_detection.launch b/apriltag_ros/launch/continuous_detection.launch
@@ -3,6 +3,7 @@
   <arg name="node_namespace" default="apriltag_ros_continuous_node" />
   <arg name="camera_name" default="/camera_rect" />
   <arg name="image_topic" default="image_rect" />
+  <arg name="queue_size" default="1" />
 
   <!-- Set parameters -->
   <rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml" ns="$(arg node_namespace)" />
@@ -14,5 +15,6 @@
     <remap from="camera_info" to="$(arg camera_name)/camera_info" />
 
     <param name="publish_tag_detections_image" type="bool" value="true" />      <!-- default: false -->
+    <param name="queue_size" type="int" value="$(arg queue_size)" />
   </node>
 </launch>
diff --git a/apriltag_ros/src/continuous_detector.cpp b/apriltag_ros/src/continuous_detector.cpp
@@ -51,8 +51,10 @@ void ContinuousDetector::onInit ()
   std::string transport_hint;
   pnh.param<std::string>("transport_hint", transport_hint, "raw");
 
+  int queue_size;
+  pnh.param<int>("queue_size", queue_size, 1);
   camera_image_subscriber_ =
-      it_->subscribeCamera("image_rect", 1,
+      it_->subscribeCamera("image_rect", queue_size,
                           &ContinuousDetector::imageCallback, this,
                           image_transport::TransportHints(transport_hint));
   tag_detections_publisher_ =