Merge pull request #190 from NVIDIA-ISAAC-ROS/release-3.2

Reduce image buffer size

Author: jaiveersinghNV

README.md

@@ -17,7 +17,7 @@ Jetson](https://gateway.on24.com/wcc/experience/elitenvidiabrill/1407606/3998202
 
 ## Overview
 
-[Isaac ROS Visual SLAM](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam)
+Isaac ROS Visual SLAM
 provides a high-performance, best-in-class ROS 2 package
 for VSLAM (visual simultaneous localization and mapping). This package
 uses one or more stereo cameras and optionally an IMU to estimate

isaac_ros_visual_slam/src/visual_slam_node.cpp

@@ -88,7 +88,7 @@ VisualSlamNode::VisualSlamNode(rclcpp::NodeOptions options)
       std::vector<std::string>{})),
   imu_frame_(declare_parameter<std::string>("imu_frame", "")),
   // Message Parameters:
-  image_buffer_size_(declare_parameter<int>("image_buffer_size", 100)),
+  image_buffer_size_(declare_parameter<int>("image_buffer_size", 10)),
   imu_buffer_size_(declare_parameter<int>("imu_buffer_size", 50)),
   image_qos_(::isaac_ros::common::AddQosParameter(*this, "SENSOR_DATA", "image_qos")),
   imu_qos_(::isaac_ros::common::AddQosParameter(*this, "SENSOR_DATA", "imu_qos")),