avt_vimba_camera ROS synchronization

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Hi, I'm actually using a Mako camera and the ros node avt_vimba_camera. I should synchronize it with ros time in order to get images having their timestamp at acquisition time. For the moment I have found a way to get the camera time at acquisition instant instead of reception one but now I would like to give to the camera the correct ros time.

A first idea I have is to set the camera timer to 0 when it is initialized saving also the ros time. Then when a frame is acquired give to it the timestamp obtained as sum of the camera time at acquisition instant and the previously saved ros time. Is there a better way to perform such operation?

Thanks in advance.