Record bag file for use with time synchronizer

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I've been testing an algorithm using the EuRoC dataset. The dataset publishes synchronized camera images from two cameras along with IMU data. My application uses a TimeSynchronizer to process both both frames and works great on the EuRoC dataset.

I recorded my own datasets using an IMU and two Point Grey cameras that are hardware triggered. I used rosbag to record the three topics I thought I needed however when I play it back, no data makes it through the TimeSynchronizer. I can remove the TimeSynchronizer and things work but I can only use one camera.

Looking at the header timestamps on both messages, they're generally well within 1ms of each other (generally within 500 us) .

How close do the timestamps have to be for the TimeSynchronizer to pass them? Is there something special I should've done when recording the bag files to indicate the two camera topics were synchronized?