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You can also try increasing the queue limit, which is an argument to the Advertise function. For example, the ~/physics/contacts topic is advertised in ContactManager::Init with a queue size of 50:

  this->contactPub =
    this->node->Advertise<msgs::contacts>("~/physics/contacts", 50);

If you're compiling gazebo from source, you can increase these limits, though it may increase gazebo's memory usage or cause message passing to be more sluggish. Use at your own risk.