diff --git a/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp b/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp
index 80493365..19ad1886 100644
--- a/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp
+++ b/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp
@@ -135,14 +135,14 @@ private:
 			cloudSub_4_.subscribe(nh, "cloud4", queueSize);
 			if(approx)
 			{
-				approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
+				approxSync4_ = new message_filters::Synchronizer<ApproxSync4Policy>(ApproxSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
 				if(approxSyncMaxInterval > 0.0)
 					approxSync4_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
 				approxSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
 			}
 			else
 			{
-				exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
+				exactSync4_ = new message_filters::Synchronizer<ExactSync4Policy>(ExactSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_);
 				exactSync4_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds4_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
 			}
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s,\n   %s",
@@ -159,14 +159,14 @@ private:
 			cloudSub_3_.subscribe(nh, "cloud3", queueSize);
 			if(approx)
 			{
-				approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
+				approxSync3_ = new message_filters::Synchronizer<ApproxSync3Policy>(ApproxSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
 				if(approxSyncMaxInterval > 0.0)
 					approxSync3_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
 				approxSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
 			}
 			else
 			{
-				exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(queueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
+				exactSync3_ = new message_filters::Synchronizer<ExactSync3Policy>(ExactSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_);
 				exactSync3_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds3_callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
 			}
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s,\n   %s",
@@ -181,14 +181,14 @@ private:
 		{
 			if(approx)
 			{
-				approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
+				approxSync2_ = new message_filters::Synchronizer<ApproxSync2Policy>(ApproxSync2Policy(syncQueueSize), cloudSub_1_, cloudSub_2_);
 				if(approxSyncMaxInterval > 0.0)
 					approxSync2_->setMaxIntervalDuration(ros::Duration(approxSyncMaxInterval));
 				approxSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2));
 			}
 			else
 			{
-				exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(queueSize), cloudSub_1_, cloudSub_2_);
+				exactSync2_ = new message_filters::Synchronizer<ExactSync2Policy>(ExactSync2Policy(syncQueueSize), cloudSub_1_, cloudSub_2_);
 				exactSync2_->registerCallback(boost::bind(&rtabmap_util::PointCloudAggregator::clouds2_callback, this, boost::placeholders::_1, boost::placeholders::_2));
 			}
 			subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n   %s,\n   %s",