message: depth/rgb common callback: using camera header for timestamp and frame
diff: @@ -1142,26 +1142,26 @@ bool convertRGBDMsgs(
  depthHeight,
  depthMsgs[i]->image.rows).c_str());
  - rtabmap::Transform localTransform = rtabmap_ros::getTransform(frameId, depthMsgs[i]->header.frame_id, depthMsgs[i]->header.stamp, listener, waitForTransform);
  + rtabmap::Transform localTransform = rtabmap_ros::getTransform(frameId, cameraInfoMsgs[i].header.frame_id, cameraInfoMsgs[i].header.stamp, listener, waitForTransform);
  if(localTransform.isNull())
  {
  - ROS_ERROR("TF of received depth image %d at time %fs is not set!", i, depthMsgs[i]->header.stamp.toSec());
  + ROS_ERROR("TF of received depth image %d at time %fs is not set!", i, cameraInfoMsgs[i].header.stamp.toSec());
  return false;
  }
  // sync with odometry stamp
  - if(!odomFrameId.empty() && odomStamp != depthMsgs[i]->header.stamp)
  + if(!odomFrameId.empty() && odomStamp != cameraInfoMsgs[i].header.stamp)
  {
  rtabmap::Transform sensorT = getTransform(
  frameId,
  odomFrameId,
  odomStamp,
  - depthMsgs[i]->header.stamp,
  + cameraInfoMsgs[i].header.stamp,
  listener,
  waitForTransform);
  if(sensorT.isNull())
  {
  ROS_WARN("Could not get odometry value for depth image stamp (%fs). Latest odometry "
  - "stamp is %fs. The depth image pose will not be synchronized with odometry.", depthMsgs[i]->header.stamp.toSec(), odomStamp.toSec());
  + "stamp is %fs. The depth image pose will not be synchronized with odometry.", cameraInfoMsgs[i].header.stamp.toSec(), odomStamp.toSec());
  }
  else
  {
  