@AndyZe can you try this branch? To use the approximate synchronization you can set the parameter sync_policy to approximate.

@de-vri-es I appreciate it! It will be a little while before I can try because we're upgrading to Kinetic right now. In the short term for Indigo, I plan to use onCalibrateFile instead of onCalibrateTopic.

@de-vri-es I'm finally getting a chance to play with this. I forgot that my depth cloud was publishing at 30 Hz while the rgb stream was publishing at 15 Hz to save bandwidth, so you're probably right about the synchronization issue.

Makes sense. I think supporting approximate synchronization is important anyway. I can't really test it though, so I'm interested to know if it works for you.

I'm sorry. I tried it quickly and it did not change the situation. I would like to work through my more fundamental issues with calibrateFile before worrying about camera synchronization.

No problem. This can wait for a while. If I can find the time I may write something to purposefully publish unsynchronized data.