From 9e3573bb4b8e95a8340b2cfdca123dc804c7fb3f Mon Sep 17 00:00:00 2001
From: rockie <rockie>
Date: Wed, 3 Jun 2015 20:28:07 -0400
Subject: [PATCH 1/2] sending camera_info

---
 nodes/axis.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/nodes/axis.py b/nodes/axis.py
index 8ada4b9..1fe609e 100755
--- a/nodes/axis.py
+++ b/nodes/axis.py
@@ -76,6 +76,7 @@ def publishFramesContinuously(self):
                 self.findBoundary()
                 self.getImage()
                 self.publishMsg()
+                self.publishCameraInfoMsg()
             except:
                 rospy.loginfo('Timed out while trying to get message.')
                 break
@@ -128,7 +129,7 @@ def publishMsg(self):
     def publishCameraInfoMsg(self):
         '''Publish camera info manager message'''
         cimsg = self.axis.cinfo.getCameraInfo()
-        cimsg.header.stamp = msg.header.stamp
+        cimsg.header.stamp = cimsg.header.stamp
         cimsg.header.frame_id = self.axis.frame_id
         cimsg.width = self.axis.width
         cimsg.height = self.axis.height

From 29d93858913b448a71ea82afe1ef3f816051f4bf Mon Sep 17 00:00:00 2001
From: rockie <rockie>
Date: Wed, 3 Jun 2015 21:04:33 -0400
Subject: [PATCH 2/2] copying stamp so rectification happens

---
 nodes/axis.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nodes/axis.py b/nodes/axis.py
index 1fe609e..2d0eba5 100755
--- a/nodes/axis.py
+++ b/nodes/axis.py
@@ -129,7 +129,7 @@ def publishMsg(self):
     def publishCameraInfoMsg(self):
         '''Publish camera info manager message'''
         cimsg = self.axis.cinfo.getCameraInfo()
-        cimsg.header.stamp = cimsg.header.stamp
+        cimsg.header.stamp = self.msg.header.stamp
         cimsg.header.frame_id = self.axis.frame_id
         cimsg.width = self.axis.width
         cimsg.height = self.axis.height