[rosbag] Synchronisation between camera_info and image

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Hello guys,

Quick question: My setup is Kinect => Depth Image => MoveIt =>Octomap

I want to record what's happening in the real world and to be able to replay it later on, so that the same octomap appears again. My idea was to record the depth image via rosbag and replay it later. Therefore I recorded /camera/depth/image_raw and /camera/depth/camera_info.

Now when I replay these topics to MoveIt, it complains like this:

[ WARN] [1411464286.696762717]: [image_transport] Topics '/camera_top/depth/image_raw' and '/camera_top/depth/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      69
    CameraInfo messages received: 237
    Synchronized pairs:           0

How would I achieve such synchronisation?

Thanks in advance,

Rabe