Trying to use Timesynchronizer...getting compile error

edit

Trying to use Timesynchronizer...getting compile error. Do not know what the error is telling me. Changed pgm to use ConstPtrs still same error:

It seem based on this reference http://stackoverflow.com/questions/2304203/how-to-use-boost-bind-with-a-member-function Timesycronizer and other boost type templates are not officially supported by ROS within a class member function. Is my understand correct? If this is true what other interface to these functions is supported? Can the tutorial be updated to show how to use these in member functions or state that they are not available.

find_package(catkin REQUIRED COMPONENTS
  roscpp
  tf2_ros
  std_msgs
  geometry_msgs
  sensor_msgs
  )

catkin_package(
  DEPENDS boost
  LIBRARIES
  CATKIN_DEPENDS
  tf2_ros
  std_msgs
  geometry_msgs
  sensor_msgs
  )

Here is my code:

#include <string>
#include <ros/ros.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <std_msgs/String.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/Quaternion.h>
#include <control_msgs/JointControllerState.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <sensor_msgs/JointState.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>


using namespace control_msgs;
using namespace message_filters;

class PublishOdometry
{
public:
  PublishOdometry()
  {

     count=0;
     motor_position_joint1_new =0;
     motor_position_joint1_old =0;
     motor_position_joint2_new =0;
     motor_position_joint2_old =0;
     x = 0;               
     y = 0;
     theta = 0;

     pubOdometry = n.advertise<nav_msgs::Odometry>("odom", 10);

     // Listen and wait for initial pose from nav
     subInitialPose = n.subscribe("/initialpose", 1, 
           &PublishOdometry::handelerInitialPose,this);
  }

void handelerOdometry(const JointControllerStateConstPtr& msg1, const JointControllerStateConstPtr& msg2)
{
     double wheel_track = 0.4;   //distance between two wheels

     motor_position_joint1_new = msg1->process_value;
     motor_position_joint2_new = msg2->process_value;

     ROS_INFO("J1PV=%f  J2PV=%f",motor_position_joint1_new, motor_position_joint2_new);


     if (timeold.toSec()==0)  // skip first set of joint cmd
     {
       timeold = msg1->header.stamp;
       motor_position_joint1_old = motor_position_joint1_new;
       motor_position_joint2_old = motor_position_joint2_new;
       return; 
     }

     float j1 = (motor_position_joint1_new - motor_position_joint1_old); 
     float j2 = (motor_position_joint2_new - motor_position_joint2_old);

     motor_position_joint1_old = motor_position_joint1_new;
     motor_position_joint2_old = motor_position_joint2_new;

     double  dt = (msg1->header.stamp - timeold).toSec();  // elapsed time in seconds
     float   distance =    ( ((j1 + j2)*dt) / 2.0);             // distance in meters
     float   dtheta   =    ( ((j1 - j2)*dt) / wheel_track);     // rotation

     double dx = (distance*sin(dtheta));
     double dy = (distance*cos(dtheta)); 

     theta =  (theta+dtheta); //fmodf((theta+dtheta),(2*M_PI));                   
     x = x + dx;
     y = y + dy;

     ROS_INFO("x=%e  y=%e theta=%f ddtheta=%f ",x,y,theta, dtheta);

     timeold = msg1->header.stamp;    // new old time

     geometry_msgs::Quaternion  quaternion;
     quaternion.x = 0.0;
     quaternion.y = 0.0; 
     quaternion.z = sin(theta/2);          // set yaw
     quaternion.w = cos(theta/2);

     geometry_msgs::TransformStamped odom_trans;
     odom_trans.header.frame_id = "odom";
     odom_trans.child_frame_id = "base_link";
     odom_trans.header.stamp =  timeold;
     odom_trans.transform.translation.x = x;
     odom_trans.transform.translation.y = y;
     odom_trans.transform.translation.z = 0.0; 
     odom_trans.transform.rotation = quaternion;

     odom_broadcaster.sendTransform(odom_trans);

     nav_msgs::Odometry odometry;
     odometry.header.frame_id = "odom";
     odometry.child_frame_id  = "base_link";
     odometry.header.stamp    = timeold;

     odometry.pose.pose.position.x  = distance;
     odometry.pose.pose.position.y  = y;
     odometry.pose.pose.position.z  = 0;
     odometry.pose.pose.orientation = quaternion;
     odometry.twist.twist.linear.x  = x;
     odometry.twist.twist.linear.y  = 0;
     odometry.twist.twist.angular.z = ((theta)*(M_PI/180));  // convert to radians

     pubOdometry.publish(odometry);

     calculateJointState(motor_position_joint1_old,"joint1");
     calculateJointState(motor_position_joint2_old,"joint2");
}



void calculateJointState(const float pv, const std::string name)
{
     sensor_msgs::JointState jointStateMsg;
     jointStateMsg.name.resize(1);
     jointStateMsg.position.resize(1);
     jointStateMsg.velocity.resize(1 ...