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Since my second problem had something to do with boost i decided to post an other question here. The problem was that i declared the message_filters::TimeSynchronizer with Imu first and then PointStamped on the second position, but in the callback function i wrote it the other way around, so boost couldn't handle the types.

So either it's possible to change my code to boost::bind(&callback, _2, _1) or change my callback to callback(const geometry_msgs::PointStampedConstPtr& msg, const sensor_msgs::ImuConstPtr& imuMsg)