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As CameraInfo does have a Header, it could potentially be used, but ppl typically would use image_transport to match frames with their corresponding CameraInfo messages (via a CameraSubscriber).
https://github.com/ros-industrial/yak_ros/blob/28a7f0ed81fbf7ab6372b8baf28c58fff5c1cc75/yak_ros/include/yak_ros/online_fusion_server_ros1.h#L121-L123
Would this be something
tf2_ros::MessageFilter
could be used for?Originally posted by @gavanderhoorn in #14
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