Synchronizer Queue Size

[burgetf]

Hi,

i just want to share an issue we had in using Simtrack. In "multi_rigid_node.cpp" the following line

sync_rgb_.reset(new SynchronizerRGB(SyncPolicyRGB(5), sub_rgb_, sub_rgb_info_));

sets the queue size to 5, which seems to be insufficient when the delay between the computer running the camera (e.g. openni2.launch) and another computer running simtrack is to large. At least nothing was published on the "/simtrack/image" topic. Setting the queue to 15 solved the problem, i.e.

sync_rgb_.reset(new SynchronizerRGB(SyncPolicyRGB(15), sub_rgb_, sub_rgb_info_));

Is it somehow possible to determine this value automatically?