RGB-D Synchronization on ROS

So i have the Astra S since October 2016. Does it have built-in RGB-D Synchronization?
If yes, how do I use it in ROS? I use astra_launch with the “color_depth_synchronization” parameter set to True, but the RGB and D stream have different timestamps, which makes synchronizing them by exact time impossible.

If no, how do I update the firmware of the camera properly? I found the fw update binaries in the ROS astra_camera package, but executing them doesn’t seem to have any effect.

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