diff --git a/src/self_filter.cpp b/src/self_filter.cpp
index f6e0d74..ac99b92 100644
--- a/src/self_filter.cpp
+++ b/src/self_filter.cpp
@@ -50,6 +50,7 @@ class SelfFilter
   {
     nh_.param<std::string>("sensor_frame", sensor_frame_, std::string());
     nh_.param("use_rgb", use_rgb_, false);
+    nh_.param("max_queue_size", max_queue_size_, 10);
     if (use_rgb_) 
     {
       self_filter_rgb_ = new filters::SelfFilter<pcl::PointXYZRGB>(nh_);
@@ -112,8 +113,8 @@ class SelfFilter
     else
     {
       ROS_DEBUG("Valid frames were passed in. We'll filter them.");
-      sub_.subscribe(root_handle_, "cloud_in", 1);
-      mn_.reset(new tf::MessageFilter<sensor_msgs::PointCloud2>(sub_, tf_, "", 1));
+      sub_.subscribe(root_handle_, "cloud_in", max_queue_size_);
+      mn_.reset(new tf::MessageFilter<sensor_msgs::PointCloud2>(sub_, tf_, "", max_queue_size_));
       mn_->setTargetFrames(frames_);
       mn_->registerCallback(boost::bind(&SelfFilter::cloudCallback, this, _1));
     }
@@ -188,7 +189,7 @@ class SelfFilter
   
   ros::Publisher                                        pointCloudPublisher_;
   ros::Subscriber                                       no_filter_sub_;
-  
+  int max_queue_size_;
 };
 }