scan_to_scan_filter_chain publisher queue of 1000

[doisyg]

See here:

laser_filters/src/scan_to_scan_filter_chain.cpp

Lines 105 to 106 in 2089488

	output_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(
	"scan_filtered", 1000, pub_options);

Is this needed ?

[jonbinney]

Depends on the use case. If you're teleoperating a robot around and streaming filtered scans to a server to make a map of an area, having a large buffer helps with wifi not being perfect in some areas. Are you runing out of memory?

[doisyg]

ha! Interesting! Maybe I will try to see how to override default QoS settings of that node.
Not running out of memory just because of that filter but I was reviewing the QoS settings of all the topics of our stack (to indeed optimize memory) and came across that one.

[jonbinney]

If you can't do it with QoS overrides, feel free to send a PR that makes the buffer length configurable with a parameter.

[doisyg]

If you can't do it with QoS overrides, feel free to send a PR that makes the buffer length configurable with a parameter.

#250