I have a subscriber written in Python and subscribes to some sensor msgs. It uses sound_play to perform speech synthesis and inform the user about the information received by the sensors. My main problem is that the latency is huge. The sensor detects the obstacle at time t and sends it to the subscriber. However, sound_play reporoduces the sound at time t + long_after. Apparently my subscriber sends too much messages to sound_play which accumulates the messages in a buffer. Is there any way to workaround this issue?