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Looking at your code, the MessageFilter tutorial, and this part of the error:

/usr/include/boost/bind/mem_fn_template.hpp:163:7: note:   no known conversion for argument 2 from ‘const boost::shared_ptr<const geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >’ to ‘const boost::shared_ptr<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >&’

I think your callback function may be missing a const (leaving unformatted so I can use bold):

void odomCallback(const boost::shared_ptr<const geometry_msgs::PoseWithCovarianceStamped>& msg);

There may be another issue, but start with that.

Looking at your code, the MessageFilter tutorial, and this part of the error:

/usr/include/boost/bind/mem_fn_template.hpp:163:7: note:   no known conversion for argument 2 from ‘const boost::shared_ptr<const geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >’ to ‘const boost::shared_ptr<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >&’

I think your callback function may be missing a const const (leaving unformatted so I can use bold):

void odomCallback(const boost::shared_ptr<const geometry_msgs::PoseWithCovarianceStamped>& msg);

There may be another issue, but start with that.