Topics '/camera/image_raw' and '/camera_info' do not appear to be synchronized

[yashwant-d]

After launching rectify_resize_fpga_streamlined application using below command, duplicate node has been observed on KR260. This seems to be breaking the functionality of the app We observed only a 4-5 frames during 5 minutes of testing and most of the time there is no message published on /resize topic,.

ros2 launch perception_2nodes trace_rectify_resize_fpga_streamlined.launch.py

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-06-27-18-31-27-439445-kria-3015
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [tracetools_launch.action]: Writing tracing session to: /root/.ros/tracing/trace_rectify_resize_fpga_streamlined
[INFO] [rectify_resize_fpga_streamlined_node-1]: process started with pid [3028]
[rectify_resize_fpga_streamlined_node-1] [WARN] [1656354692.192969458] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rectify_resize_fpga_streamlined_node-1] [WARN] [1656354705.248085520] [rectify_resize_fpga_streamlined_node]: [image_transport] Topics '/camera/image_raw' and '/camera_info' do not appear to be synchronized. In the last 10s:
[rectify_resize_fpga_streamlined_node-1]    Image messages received:      3
[rectify_resize_fpga_streamlined_node-1]    CameraInfo messages received: 0
[rectify_resize_fpga_streamlined_node-1]    Synchronized pairs:           0
[rectify_resize_fpga_streamlined_node-1] [WARN] [1656354937.192651937] [rectify_resize_fpga_streamlined_node]: [image_transport] Topics '/camera/image_raw' and '/camera_info' do not appear to be synchronized. In the last 10s:
[rectify_resize_fpga_streamlined_node-1]    Image messages received:      6
[rectify_resize_fpga_streamlined_node-1]    CameraInfo messages received: 17
[rectify_resize_fpga_streamlined_node-1]    Synchronized pairs:           5 

below are the list of nodes observed

ubuntu@kria:~$ ros2 node list
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/rectify_resize_fpga_streamlined_node
/rectify_resize_fpga_streamlined_node

It is unclear to me if this duplication of nodes can cause synchronization issue. Can you please help in resolving?

[mohammedrafi-sk]

After commenting out the line 91 in the launch fine, the duplicate nodes issue is resolved.

[yashwant-d]

after the fix suggested by @mohammedrafi-sk , duplicate node issue got resolved. but still /image_raw and /camera_info topics appears to be out of sync.