depthimage_to_laserscan image transport not synchronized

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Hello

I am trying to use the depthimage_to_laserscan package to create a scan from a kinect plugin. My rqt_graph shows that the camera and scan are connected, and I can see the laser scan in Rviz.

Here is a picture of my rqt_graph: depth_to_laser.png

Here is my launch file:

<?xml version="1.0" encoding="utf-8"?>
<launch>

    <!-- run depthimage_to_laserscan node -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" >

        <remap from="image" to="/frnt_cam_lnk/depth/image_raw"/>
        <remap from="/frnt_cam_lnk/depth/camera_info" to="/frnt_cam_lnk_ir/depth/camera_info"/>
        <remap from="scan" to="/frnt_cam_lnk/scan"/>
        <param name="scan_height" value="3"/> 
        <param name="output_frame_id" value="frnt_cam_lnk"/>

    </node>

</launch>

However, I get this warning in my terminal:

[ WARN] [1587747865.753137123, 37.318000000]: [image_transport] Topics '/frnt_cam_lnk/depth/image_raw' and '/frnt_cam_lnk_ir/depth/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      200
    CameraInfo messages received: 10
    Synchronized pairs:           10

This causes the laserscan to update severely delayed in rviz.

Any tips will be appreaciated!