Subscribe to laser scan queue size
Hi, my robot car has a Jetson tx2 board and a Hokuyo lidar. I have developed my own particle filter which read lidar and localize the robot itself. My particle filter node subscribe to the lidar message with a queue size of 1:
_subScan = _nh.subscribe("/scan", 1, &ConeSlam::scanCallback, this);
Since jetson has 4 cores, I am wondering if it is a good idea to increase the queue size to 4:
_subScan = _nh.subscribe("/scan", 4, &ConeSlam::scanCallback, this);
This way, 4 scans can be process at the same time at different threads.
Am I correct?