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Just about all of the message_filter filters only work with messages with a Header field, as the filters need timestamps to work with.

std_msgs/String doesn't have a header, so that's most likely why you get the compilation error.

Just about all of the message_filter filters only work with messages with a Header field, as the filters need timestamps to work with.

std_msgs/String doesn't have a header, so that's most likely why you get the compilation error.

Search for header on the wiki/message_filters - Time Synchronizer page you linked.