image_proc: debayer and rectify nodes should re-publish time-synced camera info

[rursprung]

i have the following setup with ROS jazzy and the current matching version of the image pipeline (v5.0.5):

flowchart LR
    pub(camera_node) -->|publish| image_raw
    pub(camera_node) --> camera_info
    image_raw --> debayer
    debayer(debayer) -->|debayer| image_color
    image_color --> rectify
    camera_info --> rectify
    rectify(rectify) -->|rectify| image_rect_color

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the launch file is basd on your launch file (but also includes the camera node and will include other things in the future).

the problem i now have is that the debayer node publishes new images with new timestamps which are then being considered as out-of-sync by the rectification node, thus leading to lots of these warnings in the log:

[component_container-1] [WARN] [1733684118.333373543] [stereo.right.RectifyNode]: [image_transport] Topics '/stereo/right/image_color' and '/stereo/right/camera_info' do not appear to be synchronized. In the last 10s:
[component_container-1]         Image messages received:      7
[component_container-1]         CameraInfo messages received: 7
[component_container-1]         Synchronized pairs:           0

how is this combination of these nodes supposed to work? i don't see anything specific in your launch file and thus presume that it'll suffer from the exact same issue. if i understand it correctly either the debayer node should just publish the new images with the old timestamps (which IMHO makes more sense anyway, as this way the timestamp can be used to identify the actual capture time) or it needs to re-publish the camera info in a synchronised manner.

note that i've seen #977 but there the discussion was about a manually written ROS node - this issue is about the OOTB experience when using the image_proc nodes DebayerNode and RectifyNode.