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Thanks for sharing the code. That was the idea. I have only som insignificant advice.

Thanks for sharing the code. That was the idea. ~~I have only som insignificant advice.~~Here is some extra advice: 1. You could use the originial image timestamp img->header.stamp instead of ros::Time::now() 2. Publish images with the proper camera info using image_transport::CameraPublisher and a camera_info_manager::CameraInfoManager.

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