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For making sure the newest message is used, you should set your topic history queues to 1. That way, every time a new message is received it will overwrite the previous one, so only the most recent is available at all times.

For synchronising the depth and rgb images, you can use the Time Synchronizer message filter. I'm not sure how this filter handles history, so you might need to experiment to make sure it only passes the most recent of both the image and depth topics.