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You can use the ExactTime and ApproximateTime Synchronization methods in ROS. http://wiki.ros.org/message_filters/ApproximateTime

http://wiki.ros.org/message_filters

In the answer at the link below, there is a sample code that subscribes to two point clouds and uses ApproximateTime policy for synchronization.

http://answers.ros.org/question/186281/problem-using-callback-with-multiple-arguments-via-approximatetime-synchronizer/