RViz Message Filter Dropping Messages - "queue is full" Warning

[srhgrs]

Hello,

I’m encountering an issue in ROS 2 where RViz is dropping messages due to the message filter queue being full. Here’s the specific warning that appears in the terminal:

[rviz2-5] [INFO] [1731406401.541241531] [rviz]: Message Filter dropping message: frame 'base_link' at time 1731406397.810 for reason 'discarding message because the queue is full'

This message seems to suggest that RViz is unable to keep up with the incoming messages for the base_link frame, resulting in some messages being discarded.
Context:

• I'm using ROS 2 with the robot_state_publisher node to publish my robot's state.

• My launch file includes the following nodes:

  1. RViz for visualization
  2. Gazebo for simulation
  3. A parameter bridge (parameter_bridge) to handle data between ROS and Gazebo
  4. Several static_transform_publisher nodes to define necessary frame transformations

• Sensor topics (IMU and LIDAR) have relatively high message frequencies, which might be contributing to this issue.

Question:

• How can I increase the queue_size for message filters in RViz or in the relevant node configurations?
• Would increasing the queue_size for specific nodes in my launch file (such as in parameter_bridge or static_transform_publisher) help mitigate this issue?
• If anyone has encountered a similar issue, are there recommended parameters or adjustments to prevent message drops in RViz?