iri_image_local_binarization: publish image with input image header/stamp

src/image_local_binarization_alg_node.cpp

@@ -47,10 +47,14 @@ void ImageLocalBinarizationAlgNode::mainNodeThread(void)
 /*  [subscriber callbacks] */
 void ImageLocalBinarizationAlgNode::image_in_callback(const sensor_msgs::Image::ConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& info) 
 { 
+  sensor_msgs::ImagePtr my_img;
+
   try{
     this->image_ = cv_bridge::toCvCopy(msg, "mono8");
     this->alg_.localThreshold(this->image_->image, this->image_->image, this->k_,(this->window_size_ % 2 == 0 ? this->window_size_ + 1: this->window_size_));
-    this->image_out_publisher_.publish(this->image_->toImageMsg(),info);
+    my_img = this->image_->toImageMsg();
+    my_img->header.stamp = msg->header.stamp;
+    this->image_out_publisher_.publish(my_img,info);
   }catch(cv_bridge::Exception& e){
     ROS_ERROR("cv_bridge exception: %s", e.what());
   }