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The warning message indicates that the Image and CameraInfo message timestamps are not synchronized. Per default, per published Image message, there should be a CameraInfo message with the exact same timestamp published. Otherwise, the default synchronization policy used by many tools with result in exactly the warning (and issues) you observe.
Note that issues with this pop up once in a while and you'll be able to find more info about time sync issues when searching this site, for instance this Q/A.
| | 2 | No.2 Revision |
The warning message indicates that the Image and CameraInfo message timestamps are not synchronized. Per default, per published Image message, there should be a CameraInfo message with the exact same timestamp published. Otherwise, the default synchronization policy used by many tools with result in exactly the warning (and issues) you observe.
Note that issues with this pop up once in a while and you'll be able to find more info about time sync issues when searching this site, for instance this Q/A.
/edit: You call ros::Time::now twice for settings timestamps, which can lead to inconsistent stamps. Essentially the exact same issue as described here. Not sure this will fix things, but it's a good idea to eliminate obvious potential sources of error.
Note you could also use a CameraPublisher for convenience.
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