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The best practice I believe is to use message_filters. You have several options:

• use Cache to create caches for both messages and explicitly retrieve messages at specific times in your 'computation'
• use a policy based synchroniser, with either an ExactTime policy or an ApproximateTime one

The first would be similar to what you sketch in your question, but a bit more robust and explicit, while the latter is a different approach, but it might be even more appropriate, depending on the temporal relationship there is between the incoming messages.