Any suggestions for combining scans of different frequencies?

[ruffsl]

I'm combining two scans, one extracted from a depth camera, and the other from a 2D LIDAR. But I'm getting some jitter from the depth camera's scan contribution. I suppose it's to be expected when combining a 30Hz depth scan with a 40Hz LIDAR, but I was wondering if there was anything that could be done better. A qualitative example of the jitter artifact in RVIZ; red/LIDAR, green/depth-camera, yellow/combined. Note how combined lagges with the camera, and the LIDAR remains quite static. The example you see here is a turtlebot simulation from gazebo, with a asus pointing forward, and a gpu_lidar pointing backwards, using this small PR of ira_laser_tools: https://github.com/iralabdisco/ira_laser_tools/pull/7

Update: corss-linking to ros.anwsers post