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?

[nassir90]

I'm also having a very similar issue.

[nassir90]

Update: My issue was just due to a bag I was using not containing the transforms needed. I was able to manually generate appropriate tf2 transforms with exact matching timestamps (this is a requirement) using data contained in topics in the bag to get good enough results.

[alitekes1]

i have encounter this error too. you must add <gz_frame_id>lidar_link</gz_frame_id> to appopirote place at your sensor plugin. i guess that your error is going to fix.

<sensor name="gpu_lidar" type="gpu_lidar">
        <lidar>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1</resolution>
              <min_angle>-3.1459</min_angle>
              <max_angle>3.1459</max_angle>
            </horizontal>
            <vertical>
              <samples>16</samples>
              <resolution>1</resolution>
              <min_angle>-0.261799</min_angle>
              <max_angle>0.261799</max_angle>
            </vertical>
          </scan>
          <range>
            <min>0.3</min>
            <max>20</max>
            <resolution>0.01</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0</mean>
            <stddev>0.01</stddev>
          </noise>
        </lidar>
        <topic>go2/laser_scan</topic>
        <visualize>true</visualize>
        <update_rate>10</update_rate>
        <always_on>1</always_on>
	<gz_frame_id>lidar_link</gz_frame_id>  <!-- this code add your sensor plugin -->
</sensor>