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Without extra work, you can't. Simply because the filter needs to know what to synchronize.

The main problem here is that the message you pointed out doesn't use a Header, but a custom stamp. At least there is one, so probably the easiest method is to use the filters manually. I haven't checked the API, but I'd try to not directly use the subscriber as an input, but instead put your own "FixHeaderForMyCustomMsg"-Filter in between that just constructs a data type that contains your message + a header (that you fill from the stamp). Given pythons typing, you should be able to just pass that into the TimeSynchronizer.

Meddling with built-in messages probably won't work as the types are defined using __slots__ (probably for efficiency), so you can't change that.