diff --git a/src/nodelet/adding_images_nodelet.cpp b/src/nodelet/adding_images_nodelet.cpp
index e2f5cddd..514f8b63 100644
--- a/src/nodelet/adding_images_nodelet.cpp
+++ b/src/nodelet/adding_images_nodelet.cpp
@@ -77,6 +77,7 @@ namespace opencv_apps {
     Config config_;
     boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+    int queue_size_;
     bool debug_view_;
     ros::Time prev_stamp_;
 
@@ -116,13 +117,13 @@ namespace opencv_apps {
       if (config_.use_camera_info) {
         if (approximate_sync_) {
           async_with_info_ = boost::make_shared<
-            message_filters::Synchronizer<ApproxSyncPolicyWithCameraInfo> >(100);
+            message_filters::Synchronizer<ApproxSyncPolicyWithCameraInfo> >(queue_size_);
           async_with_info_->connectInput(sub_image1_, sub_image2_, sub_camera_info_);
           async_with_info_->registerCallback(boost::bind(
             &AddingImagesNodelet::imageCallbackWithInfo, this, _1, _2, _3));
         } else {
           sync_with_info_ =
-            boost::make_shared<message_filters::Synchronizer<SyncPolicyWithCameraInfo> >(100);
+            boost::make_shared<message_filters::Synchronizer<SyncPolicyWithCameraInfo> >(queue_size_);
           sync_with_info_->connectInput(sub_image1_, sub_image2_, sub_camera_info_);
           sync_with_info_->registerCallback(boost::bind(
             &AddingImagesNodelet::imageCallbackWithInfo, this, _1, _2, _3));
@@ -130,13 +131,13 @@ namespace opencv_apps {
       } else {
         if (approximate_sync_) {
           async_ = boost::make_shared<
-            message_filters::Synchronizer<ApproxSyncPolicy> >(100);
+            message_filters::Synchronizer<ApproxSyncPolicy> >(queue_size_);
           async_->connectInput(sub_image1_, sub_image2_);
           async_->registerCallback(
             boost::bind(&AddingImagesNodelet::imageCallback, this, _1, _2));
         } else {
           sync_ =
-            boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
+            boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(queue_size_);
           sync_->connectInput(sub_image1_, sub_image2_);
           sync_->registerCallback(
             boost::bind(&AddingImagesNodelet::imageCallback, this, _1, _2));
@@ -251,6 +252,7 @@ namespace opencv_apps {
       reconfigure_server_->setCallback(f);
 
       pnh_->param("approximate_sync", approximate_sync_, true);
+      pnh_->param("queue_size", queue_size_, 100);
       img_pub_ = advertiseImage(*pnh_, "image", 1);
       onInitPostProcess();
     }
diff --git a/src/nodelet/camshift_nodelet.cpp b/src/nodelet/camshift_nodelet.cpp
index 0b88ddb5..494ba306 100644
--- a/src/nodelet/camshift_nodelet.cpp
+++ b/src/nodelet/camshift_nodelet.cpp
@@ -71,6 +71,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -337,9 +338,9 @@ class CamShiftNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &CamShiftNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &CamShiftNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &CamShiftNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &CamShiftNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -355,6 +356,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/color_filter_nodelet.cpp b/src/nodelet/color_filter_nodelet.cpp
index 891c9328..74950aea 100644
--- a/src/nodelet/color_filter_nodelet.cpp
+++ b/src/nodelet/color_filter_nodelet.cpp
@@ -74,6 +74,7 @@ class ColorFilterNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
 
   std::string window_name_;
@@ -145,9 +146,9 @@ class ColorFilterNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &ColorFilterNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &ColorFilterNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &ColorFilterNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &ColorFilterNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -163,6 +164,7 @@ class ColorFilterNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
 
     if (debug_view_) {
diff --git a/src/nodelet/contour_moments_nodelet.cpp b/src/nodelet/contour_moments_nodelet.cpp
index a8d463b1..482f93c2 100644
--- a/src/nodelet/contour_moments_nodelet.cpp
+++ b/src/nodelet/contour_moments_nodelet.cpp
@@ -78,6 +78,7 @@ class ContourMomentsNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -238,9 +239,9 @@ class ContourMomentsNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &ContourMomentsNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &ContourMomentsNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &ContourMomentsNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &ContourMomentsNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -256,6 +257,7 @@ class ContourMomentsNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/convex_hull_nodelet.cpp b/src/nodelet/convex_hull_nodelet.cpp
index 2a1b8ec9..56f3f2d0 100644
--- a/src/nodelet/convex_hull_nodelet.cpp
+++ b/src/nodelet/convex_hull_nodelet.cpp
@@ -70,6 +70,7 @@ class ConvexHullNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -199,9 +200,9 @@ class ConvexHullNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &ConvexHullNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &ConvexHullNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &ConvexHullNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &ConvexHullNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -218,6 +219,7 @@ class ConvexHullNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/corner_harris_nodelet.cpp b/src/nodelet/corner_harris_nodelet.cpp
index d881648b..a18eb3f8 100644
--- a/src/nodelet/corner_harris_nodelet.cpp
+++ b/src/nodelet/corner_harris_nodelet.cpp
@@ -66,6 +66,7 @@ class CornerHarrisNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
 
   std::string window_name_;
@@ -174,9 +175,9 @@ class CornerHarrisNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &CornerHarrisNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &CornerHarrisNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &CornerHarrisNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &CornerHarrisNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -192,6 +193,7 @@ class CornerHarrisNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
 
     if (debug_view_) {
diff --git a/src/nodelet/discrete_fourier_transform_nodelet.cpp b/src/nodelet/discrete_fourier_transform_nodelet.cpp
index 740f70a4..613eafe3 100644
--- a/src/nodelet/discrete_fourier_transform_nodelet.cpp
+++ b/src/nodelet/discrete_fourier_transform_nodelet.cpp
@@ -63,6 +63,7 @@ class DiscreteFourierTransformNodelet : public opencv_apps::Nodelet {
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -84,10 +85,10 @@ class DiscreteFourierTransformNodelet : public opencv_apps::Nodelet {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
       cam_sub_ = it_->subscribeCamera(
-                                      "image", 1, &DiscreteFourierTransformNodelet::imageCallbackWithInfo, this);
+                                      "image", queue_size_, &DiscreteFourierTransformNodelet::imageCallbackWithInfo, this);
     else
       img_sub_ =
-        it_->subscribe("image", 1, &DiscreteFourierTransformNodelet::imageCallback, this);
+        it_->subscribe("image", queue_size_, &DiscreteFourierTransformNodelet::imageCallback, this);
   }
 
   void unsubscribe() {
@@ -178,6 +179,7 @@ class DiscreteFourierTransformNodelet : public opencv_apps::Nodelet {
   virtual void onInit() {
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
 
     if (debug_view_) {
diff --git a/src/nodelet/edge_detection_nodelet.cpp b/src/nodelet/edge_detection_nodelet.cpp
index 7bb3eb93..ceb9864b 100644
--- a/src/nodelet/edge_detection_nodelet.cpp
+++ b/src/nodelet/edge_detection_nodelet.cpp
@@ -77,6 +77,7 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -261,9 +262,9 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &EdgeDetectionNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &EdgeDetectionNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &EdgeDetectionNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &EdgeDetectionNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -279,6 +280,7 @@ class EdgeDetectionNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
 
     if (debug_view_) {
diff --git a/src/nodelet/face_detection_nodelet.cpp b/src/nodelet/face_detection_nodelet.cpp
index faff76ca..73c93a17 100644
--- a/src/nodelet/face_detection_nodelet.cpp
+++ b/src/nodelet/face_detection_nodelet.cpp
@@ -71,6 +71,7 @@ class FaceDetectionNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -202,9 +203,9 @@ class FaceDetectionNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &FaceDetectionNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &FaceDetectionNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &FaceDetectionNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &FaceDetectionNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -220,6 +221,7 @@ class FaceDetectionNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_ ) {
       always_subscribe_ = true;
diff --git a/src/nodelet/find_contours_nodelet.cpp b/src/nodelet/find_contours_nodelet.cpp
index 99dcbef9..52f0ba4b 100644
--- a/src/nodelet/find_contours_nodelet.cpp
+++ b/src/nodelet/find_contours_nodelet.cpp
@@ -70,6 +70,7 @@ class FindContoursNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -196,9 +197,9 @@ class FindContoursNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &FindContoursNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &FindContoursNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &FindContoursNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &FindContoursNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -214,6 +215,7 @@ class FindContoursNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/general_contours_nodelet.cpp b/src/nodelet/general_contours_nodelet.cpp
index 70ffa4bb..2830bace 100644
--- a/src/nodelet/general_contours_nodelet.cpp
+++ b/src/nodelet/general_contours_nodelet.cpp
@@ -70,6 +70,7 @@ class GeneralContoursNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -227,9 +228,9 @@ class GeneralContoursNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &GeneralContoursNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &GeneralContoursNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &GeneralContoursNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &GeneralContoursNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -245,6 +246,7 @@ class GeneralContoursNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/goodfeature_track_nodelet.cpp b/src/nodelet/goodfeature_track_nodelet.cpp
index 00e33970..79a1aa43 100644
--- a/src/nodelet/goodfeature_track_nodelet.cpp
+++ b/src/nodelet/goodfeature_track_nodelet.cpp
@@ -68,6 +68,7 @@ class GoodfeatureTrackNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -199,9 +200,9 @@ class GoodfeatureTrackNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &GoodfeatureTrackNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &GoodfeatureTrackNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &GoodfeatureTrackNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &GoodfeatureTrackNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -217,6 +218,7 @@ class GoodfeatureTrackNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/hough_circles_nodelet.cpp b/src/nodelet/hough_circles_nodelet.cpp
index 48b4f32a..9b1eab67 100644
--- a/src/nodelet/hough_circles_nodelet.cpp
+++ b/src/nodelet/hough_circles_nodelet.cpp
@@ -70,6 +70,7 @@ class HoughCirclesNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -294,9 +295,9 @@ class HoughCirclesNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &HoughCirclesNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &HoughCirclesNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &HoughCirclesNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &HoughCirclesNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -313,6 +314,7 @@ class HoughCirclesNodelet : public opencv_apps::Nodelet
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
     debug_image_type_ = 0;
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = debug_view_;
diff --git a/src/nodelet/hough_lines_nodelet.cpp b/src/nodelet/hough_lines_nodelet.cpp
index e94ef2ae..fb203a95 100644
--- a/src/nodelet/hough_lines_nodelet.cpp
+++ b/src/nodelet/hough_lines_nodelet.cpp
@@ -70,6 +70,7 @@ class HoughLinesNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -260,9 +261,9 @@ class HoughLinesNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &HoughLinesNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &HoughLinesNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &HoughLinesNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &HoughLinesNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -278,6 +279,7 @@ class HoughLinesNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/lk_flow_nodelet.cpp b/src/nodelet/lk_flow_nodelet.cpp
index 6d7e0865..8e893225 100644
--- a/src/nodelet/lk_flow_nodelet.cpp
+++ b/src/nodelet/lk_flow_nodelet.cpp
@@ -71,6 +71,7 @@ class LKFlowNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -288,9 +289,9 @@ class LKFlowNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &LKFlowNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &LKFlowNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &LKFlowNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &LKFlowNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -306,6 +307,7 @@ class LKFlowNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/people_detect_nodelet.cpp b/src/nodelet/people_detect_nodelet.cpp
index e1af18fb..fc0f0f05 100644
--- a/src/nodelet/people_detect_nodelet.cpp
+++ b/src/nodelet/people_detect_nodelet.cpp
@@ -68,6 +68,7 @@ class PeopleDetectNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -191,9 +192,9 @@ class PeopleDetectNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &PeopleDetectNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &PeopleDetectNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &PeopleDetectNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &PeopleDetectNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -209,6 +210,7 @@ class PeopleDetectNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/phase_corr_nodelet.cpp b/src/nodelet/phase_corr_nodelet.cpp
index 4843b9a2..0cc4f8a9 100644
--- a/src/nodelet/phase_corr_nodelet.cpp
+++ b/src/nodelet/phase_corr_nodelet.cpp
@@ -62,6 +62,7 @@ class PhaseCorrNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -179,9 +180,9 @@ class PhaseCorrNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &PhaseCorrNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &PhaseCorrNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &PhaseCorrNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &PhaseCorrNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -197,6 +198,7 @@ class PhaseCorrNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/pyramids_nodelet.cpp b/src/nodelet/pyramids_nodelet.cpp
index 9840fd06..65c1e7f7 100644
--- a/src/nodelet/pyramids_nodelet.cpp
+++ b/src/nodelet/pyramids_nodelet.cpp
@@ -67,6 +67,7 @@ class PyramidsNodelet : public opencv_apps::Nodelet {
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
 
   int num_of_pyramids_;
@@ -144,9 +145,9 @@ class PyramidsNodelet : public opencv_apps::Nodelet {
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &PyramidsNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &PyramidsNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &PyramidsNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &PyramidsNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -161,6 +162,7 @@ class PyramidsNodelet : public opencv_apps::Nodelet {
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
 
     if (debug_view_) {
diff --git a/src/nodelet/segment_objects_nodelet.cpp b/src/nodelet/segment_objects_nodelet.cpp
index ba7c19b8..d3fabd3e 100644
--- a/src/nodelet/segment_objects_nodelet.cpp
+++ b/src/nodelet/segment_objects_nodelet.cpp
@@ -71,6 +71,7 @@ class SegmentObjectsNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -227,9 +228,9 @@ class SegmentObjectsNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &SegmentObjectsNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &SegmentObjectsNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &SegmentObjectsNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &SegmentObjectsNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -245,6 +246,7 @@ class SegmentObjectsNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/simple_compressed_example_nodelet.cpp b/src/nodelet/simple_compressed_example_nodelet.cpp
index 6dffda89..1ea44c4d 100644
--- a/src/nodelet/simple_compressed_example_nodelet.cpp
+++ b/src/nodelet/simple_compressed_example_nodelet.cpp
@@ -62,17 +62,19 @@ class ImageConverter
   ros::NodeHandle nh_;
   ros::Subscriber image_sub_;
   ros::Publisher image_pub_;
+  int queue_size_;
   bool debug_view_;
 
 public:
   ImageConverter()
   {
       // Subscrive to input video feed and publish output video feed
-    image_sub_ = nh_.subscribe("image/compressed", 1,
+    image_sub_ = nh_.subscribe("image/compressed", queue_size_,
             &ImageConverter::imageCb,this);
     image_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("/image_converter/output_video/compressed", 1);
 
     ros::NodeHandle pnh_("~");
+    pnh_.param("queue_size", queue_size_, 3);
     pnh_.param("debug_view", debug_view_, false);
     if( debug_view_) {
       cv::namedWindow(OPENCV_WINDOW);
diff --git a/src/nodelet/simple_example_nodelet.cpp b/src/nodelet/simple_example_nodelet.cpp
index fe85e37f..b2824712 100644
--- a/src/nodelet/simple_example_nodelet.cpp
+++ b/src/nodelet/simple_example_nodelet.cpp
@@ -60,6 +60,7 @@ class ImageConverter
   image_transport::ImageTransport it_;
   image_transport::Subscriber image_sub_;
   image_transport::Publisher image_pub_;
+  int queue_size_;
   bool debug_view_;
 
 public:
@@ -67,11 +68,12 @@ class ImageConverter
     : it_(nh_)
   {
     // Subscrive to input video feed and publish output video feed
-    image_sub_ = it_.subscribe("image", 1,
+    image_sub_ = it_.subscribe("image", queue_size_,
       &ImageConverter::imageCb, this);
     image_pub_ = it_.advertise("/image_converter/output_video/raw", 1);
 
     ros::NodeHandle pnh_("~");
+    pnh_.param("queue_size", queue_size_, 3);
     pnh_.param("debug_view", debug_view_, false);
     if( debug_view_) {
       cv::namedWindow(OPENCV_WINDOW);
diff --git a/src/nodelet/simple_flow_nodelet.cpp b/src/nodelet/simple_flow_nodelet.cpp
index 0594f557..bed52cf3 100644
--- a/src/nodelet/simple_flow_nodelet.cpp
+++ b/src/nodelet/simple_flow_nodelet.cpp
@@ -69,6 +69,7 @@ class SimpleFlowNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   int subscriber_count_;
   ros::Time prev_stamp_;
@@ -215,9 +216,9 @@ class SimpleFlowNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &SimpleFlowNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &SimpleFlowNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &SimpleFlowNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &SimpleFlowNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -233,6 +234,7 @@ class SimpleFlowNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/smoothing_nodelet.cpp b/src/nodelet/smoothing_nodelet.cpp
index 84115809..f9ef7dd5 100644
--- a/src/nodelet/smoothing_nodelet.cpp
+++ b/src/nodelet/smoothing_nodelet.cpp
@@ -74,6 +74,7 @@ class SmoothingNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -188,9 +189,9 @@ class SmoothingNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &SmoothingNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &SmoothingNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &SmoothingNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &SmoothingNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -206,6 +207,7 @@ class SmoothingNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;
diff --git a/src/nodelet/threshold_nodelet.cpp b/src/nodelet/threshold_nodelet.cpp
index 6593153d..b400c001 100644
--- a/src/nodelet/threshold_nodelet.cpp
+++ b/src/nodelet/threshold_nodelet.cpp
@@ -61,6 +61,7 @@ namespace opencv_apps {
     Config config_;
     boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+    int queue_size_;
     bool debug_view_;
 
     std::string window_name_;
@@ -91,10 +92,10 @@ namespace opencv_apps {
       NODELET_DEBUG("Subscribing to image topic.");
       if (config_.use_camera_info)
         cam_sub_ = it_->subscribeCamera(
-          "image", 1, &ThresholdNodelet::imageCallbackWithInfo, this);
+          "image", queue_size_, &ThresholdNodelet::imageCallbackWithInfo, this);
       else
         img_sub_ =
-          it_->subscribe("image", 1, &ThresholdNodelet::imageCallback, this);
+          it_->subscribe("image", queue_size_, &ThresholdNodelet::imageCallback, this);
     }
 
     void unsubscribe() {
@@ -148,6 +149,7 @@ namespace opencv_apps {
       it_ = boost::shared_ptr<image_transport::ImageTransport>(
         new image_transport::ImageTransport(*nh_));
 
+      pnh_->param("queue_size", queue_size_, 3);
       pnh_->param("debug_view", debug_view_, false);
       if (debug_view_) {
         always_subscribe_ = true;
diff --git a/src/nodelet/watershed_segmentation_nodelet.cpp b/src/nodelet/watershed_segmentation_nodelet.cpp
index 787d5f15..3b542f76 100644
--- a/src/nodelet/watershed_segmentation_nodelet.cpp
+++ b/src/nodelet/watershed_segmentation_nodelet.cpp
@@ -69,6 +69,7 @@ class WatershedSegmentationNodelet : public opencv_apps::Nodelet
   Config config_;
   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
 
+  int queue_size_;
   bool debug_view_;
   ros::Time prev_stamp_;
 
@@ -281,9 +282,9 @@ class WatershedSegmentationNodelet : public opencv_apps::Nodelet
   {
     NODELET_DEBUG("Subscribing to image topic.");
     if (config_.use_camera_info)
-      cam_sub_ = it_->subscribeCamera("image", 3, &WatershedSegmentationNodelet::imageCallbackWithInfo, this);
+      cam_sub_ = it_->subscribeCamera("image", queue_size_, &WatershedSegmentationNodelet::imageCallbackWithInfo, this);
     else
-      img_sub_ = it_->subscribe("image", 3, &WatershedSegmentationNodelet::imageCallback, this);
+      img_sub_ = it_->subscribe("image", queue_size_, &WatershedSegmentationNodelet::imageCallback, this);
   }
 
   void unsubscribe()
@@ -299,6 +300,7 @@ class WatershedSegmentationNodelet : public opencv_apps::Nodelet
     Nodelet::onInit();
     it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
 
+    pnh_->param("queue_size", queue_size_, 3);
     pnh_->param("debug_view", debug_view_, false);
     if (debug_view_) {
       always_subscribe_ = true;