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Hi!

This is just a suggestion, but you could take the picture and check for the position of the camera inside the same node (maybe the cameraNode) so it would publish both the picture and the tf with the same timestamp. The dataNode should work in the same way. The idea is to get (for example) a picture when a camera position reading is available, thus synchronizing both.

You could also increase the frequency at which armNode is publishing tf data in oder to reduce your 200ms gap to something that you can live with (if possible, probably that depends on the hardware).

Hope this helps,

Gonçalo Cabrita