Merge pull request #21 from jcmonteiro/feature/offline/increase-publi…

…sher-queue-length

Add the publishers' queue length as a parameter when replaying offline

src/offline_replay.cpp

@@ -47,6 +47,8 @@ void lama::ReplayRosbag(ros::NodeHandle& pnh, const std::string& rosbag_filename
 {
     std::string scan_topic;
     pnh.param("scan_topic", scan_topic, std::string("/scan"));
+    int queue_length;
+    pnh.param("queue_length", queue_length, 100);
 
     ROS_INFO("Scan topic: %s", scan_topic.c_str());
 
@@ -59,10 +61,10 @@ void lama::ReplayRosbag(ros::NodeHandle& pnh, const std::string& rosbag_filename
         ROS_FATAL("Unable to open rosbag [%s]: %s", rosbag_filename.c_str(), ex.what());
     }
 
-    auto pub_scan  = pnh.advertise<sensor_msgs::LaserScan>(scan_topic,10);
-    auto pub_tf  = pnh.advertise<tf2_msgs::TFMessage>("/tf",10);
-    auto pub_tf_static  = pnh.advertise<tf2_msgs::TFMessage>("/tf_static",10, true);
-    auto pub_clock = pnh.advertise<rosgraph_msgs::Clock>("/clock",10);
+    auto pub_scan  = pnh.advertise<sensor_msgs::LaserScan>(scan_topic, queue_length);
+    auto pub_tf  = pnh.advertise<tf2_msgs::TFMessage>("/tf", queue_length);
+    auto pub_tf_static  = pnh.advertise<tf2_msgs::TFMessage>("/tf_static", queue_length, true);
+    auto pub_clock = pnh.advertise<rosgraph_msgs::Clock>("/clock", queue_length);
 
     ROS_INFO("Allow time for the subscribers to connect");
     ros::WallDuration wait(2); wait.sleep();