Do not multiply queue boundaries by number of bags

Signed-off-by: Christophe Bedard <[email protected]>

rosbag2_transport/src/rosbag2_transport/player.cpp

@@ -908,7 +908,7 @@ Player::callback_handle_t PlayerImpl::get_new_on_play_msg_callback_handle()
 void PlayerImpl::wait_for_filled_queue() const
 {
   while (
-    message_queue_.size() < (input_bags_.size() * play_options_.read_ahead_queue_size) &&
+    message_queue_.size() < play_options_.read_ahead_queue_size &&
     !is_storage_completely_loaded() && rclcpp::ok() && !stop_playback_)
   {
     std::this_thread::sleep_for(queue_read_wait_period_);
@@ -917,11 +917,9 @@ void PlayerImpl::wait_for_filled_queue() const
 
 void PlayerImpl::load_storage_content()
 {
-  // Multiply the boundary parameters by the number of input bags, since we want enough messages
-  // from each bags, not just enough messages overall
-  auto queue_lower_boundary = static_cast<size_t>(
-    input_bags_.size() * play_options_.read_ahead_queue_size * read_ahead_lower_bound_percentage_);
-  auto queue_upper_boundary = input_bags_.size() * play_options_.read_ahead_queue_size;
+  auto queue_lower_boundary =
+    static_cast<size_t>(play_options_.read_ahead_queue_size * read_ahead_lower_bound_percentage_);
+  auto queue_upper_boundary = play_options_.read_ahead_queue_size;
 
   while (rclcpp::ok() && load_storage_content_ && !stop_playback_) {
     rcpputils::unique_lock lk(reader_mutex_);