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It appears that this question describes a similar issue to the one you are having.

Have you considered/tried using message filters (more specifically, ApproximateTime) to synchronise the published colour image and published messages from the camera_info topic?

That worked for me, although I was synchronising 4 topics published by different sensors (also over a wireless connection).

Due to limited throughput and higher latency of wireless (as opposed to wired) connections, from my experience, messages are likely to get to the peer subscribing to such topics not necessarily at the same rate as they are published. Also, you might get a message from camera_info topic whilst the corresponding, synchronised sensor_msgs/Image is yet to be received by the subscriber.

I hope it helps!