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fix:change publisher queue size from 4 to 64

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change publisher queue size from 4 to 64 in multitopic mode
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livox
2021-01-04 11:30:52 +08:00
committed by GitHub
parent 0d67ae9f9b
commit 1d6e869a3e
1 changed files with 2 additions and 2 deletions
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4
livox_ros_driver/livox_ros_driver/lddc.cpp
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@@ -594,7 +594,7 @@ ros::Publisher *Lddc::GetCurrentPublisher(uint8_t handle) {
if (use_multi_topic_) {
pub = &private_pub_[handle];
queue_size = queue_size / 8; // queue size is 4 for only one lidar
queue_size = queue_size * 2; // queue size is 64 for only one lidar
} else {
pub = &global_pub_;
queue_size = queue_size * 8; // shared queue size is 256, for all lidars
@@ -643,7 +643,7 @@ ros::Publisher *Lddc::GetCurrentImuPublisher(uint8_t handle) {
if (use_multi_topic_) {
pub = &private_imu_pub_[handle];
queue_size = queue_size / 8; // queue size is 4 for only one lidar
queue_size = queue_size * 2; // queue size is 64 for only one lidar
} else {
pub = &global_imu_pub_;
queue_size = queue_size * 8; // shared queue size is 256, for all lidars