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I use the following code to use message filters inside a class class SubscribeAndPublish { public: SubscribeAndPublish():sync2(image_sub,image_sub2,500){ image_sub.subscribe(n, "/camera/color/image_raw", 1); image_sub2.subscribe(n, "/camera/aligned_depth_to_color/image_raw", 1); sync2.registerCallback(boost::bind(&SubscribeAndPublish::callback,this, _1, _2)); odom_pub = n.advertise<nav_msgs::odometry>("RGBDodom", 50); } private: ros::NodeHandle n; ros::Publisher odom_pub; message_filters::Subscriber<image> image_sub; message_filters::Subscriber<image> image_sub2; TimeSynchronizer<image, image=""> sync2; };

I use the following code to use message filters inside a class class `

ros::Publisher odom_pub;
    message_filters::Subscriber<image> 
message_filters::Subscriber<Image> image_sub;
    message_filters::Subscriber<image> 
message_filters::Subscriber<Image> image_sub2;
    TimeSynchronizer<image, image=""> 
TimeSynchronizer<Image, Image> sync2;
};

I use the following code to use message filters inside a class `class

class SubscribeAndPublish
{
{
 public:
 
public:
 
SubscribeAndPublish():sync2(image_sub,image_sub2,500){       
image_sub.subscribe(n, "/camera/color/image_raw", 1);1);
  
image_sub2.subscribe(n, "/camera/aligned_depth_to_color/image_raw", 1);1);
  
sync2.registerCallback(boost::bind(&SubscribeAndPublish::callback,this, _1, _2));_2));
  
odom_pub = n.advertise<nav_msgs::odometry>("RGBDodom", 50);n.advertise<nav_msgs::Odometry>("RGBDodom", 50);
 }
 
}
 
private:
    ros::NodeHandle n;n;
  
 ros::Publisher odom_pub;

 message_filters::Subscriber<Image> image_sub;

 message_filters::Subscriber<Image> image_sub2;

 TimeSynchronizer<Image, Image> sync2;
};
  
};`