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However, I get a compilation error stating
undefined reference to `message_filters::Connection::disconnect()'
"undefined reference" errors are never compilation errors, but linker errors.
It's likely you're not (correctly) linking to the message_filters
libraries.
If you can show us your CMakeLists.txt
we can check it for you.
Note: please remove all the boilerplate comments from the file before you post it here, they're not needed.