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It's possible the param getting is being done wrong within the nodelet, and it is loading params from the manager namespace rather than the nodelet.

The nodelet needs to be using getPrivateNodeHandle().getParam("camera_frame", camera_frame_) rather than the following which is what a non-nodelet node would usually do:

ros::NodeHandle nh("~");
nh.getParam("camera_frame", camera_frame_);

Also try rosparam list to see if the parameters in the yaml files are correctly being loaded.

It's possible the param getting is being done wrong within the nodelet, and it is loading params from the manager namespace rather than the nodelet.

The nodelet needs to be using

getPrivateNodeHandle().getParam("camera_frame", camera_frame_)camera_frame_)
 

rather than the following which is what a non-nodelet node would usually do:

ros::NodeHandle nh("~");
nh.getParam("camera_frame", camera_frame_);

Also try rosparam list to see if the parameters in the yaml files are correctly being loaded.