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I'll let Ivan Dryanovski answer about the ccny package.

I would just like to say that "tf is old" is a common error : when you play your bag file, don't forget to :

1) rosparam set /use_sim_time true

2) rosbag play with the "--clock" option

For more details, please see : here. This is a tutorial about kinect, but the principle is the same for others cameras.

Hope it'll helpo you,

Bests regards,

Steph