My problem is that when I subscribe /usbcamrepub/imageraw (republished usbcam topic) in rviz, the rviz is finding /usbcamrepub/camera_info by default, however, there is no topic.

I'm using Camera topic viewer in rviz (not image view). It displays frame coordinate on image, which is from other topic.

So I changed it once to /usbcam, then camerainfo is loaded in rviz once, then I changed to /usbcamrepub, it will work.

In this case, how can I make rviz to use /usbcam/camerainfo with /usbcamrepub/camera_info?