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Not entirely sure but from the python docs :

ApproximateTimeSynchronizer synchronizes incoming message filters by the timestamps contained in their messages’ headers. The API is the same as TimeSynchronizer except for an extra slop parameter in the constructor that defines the delay (in seconds) with which messages can be synchronized. The allow_headerless option specifies whether to allow storing headerless messages with current ROS time instead of timestamp.

So you could use ApproximateTimeSynchronizer instead of TimeSynchronizer like this :

ApproximateTimeSynchronizer([image_sub, camera_sub], queue_size=10, slop=0.1, allow_headerless=True)