Display CameraInfo/Image message with frame_id != fixed frame

edit

Hi guys,

I've tried to display multiple CameraInfo/Image messages within rviz. I have tf_broadcasters, publishing the camera transformations with about 50 Hz.

My CameraInfo/Image messages have different frame_id's and I want to visualize them with rviz' default plugin. However, a camera image only shows up if the global fixed frame is equal to the image frame_id. Specifically, the warning within the plugin is :

1. No CameraInfo received on [/sensor/camera/st_front_right_rect/camera_info]. Topic may not exist.
2. No Image received

At first, I thought this could happen because of tf, but this seems to be fine.

My tf tree, visualized via view_frames looks fine (one root, with several leaves). In particular, doing a rosrun tf tf_monitor camera_rig_calibration st_front_left_rect gives me

RESULTS: for camera_rig_calibration to st_front_left_rect
Chain is: camera_rig_calibration -> st_front_left_rect
Net delay     avg = 0.0161706: max = 0.223564

Frames:
Frame: st_front_left_rect published by unknown_publisher Average Delay: 0.00131894 Max Delay: 0.030248

Doing a rostopic echo /sensor/camera/st_front_left_rect/image_rect/header gives me for the Image/header:

seq: 1077
stamp: 
  secs: 18980
  nsecs: 802162648
frame_id: st_front_left_rect

and rostopic echo /sensor/camera/st_front_left_rect/cameraInfo/header for the CameraInfo/Header:

seq: 1077
stamp: 
  secs: 18980
  nsecs: 802162456
frame_id: st_front_left_rect

However, I cannot visualize the image for fixed frame camera_rig_calibration.

Any ideas, how I could further debug? Thanks in advance for any help provided!

What could be other reasons for the CameraInfo/Image not showing up? I can provide further code if desired.

Regards, Sascha