sync.h

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#ifndef SYNC_H
#define SYNC_H

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/subscriber_filter.h>
#include <std_msgs/String.h>
#include <boost/lexical_cast.hpp>

using namespace std;

namespace avt_vimba_camera {
class Sync {

  public:
    Sync(ros::NodeHandle nh, ros::NodeHandle nhp);
    void run();

  protected:

    void msgsCallback(const sensor_msgs::ImageConstPtr& l_img_msg,
                      const sensor_msgs::ImageConstPtr& r_img_msg,
                      const sensor_msgs::CameraInfoConstPtr& l_info_msg,
                      const sensor_msgs::CameraInfoConstPtr& r_info_msg);

    void syncCallback(const ros::TimerEvent&);

  private:

    // Node handles
    ros::NodeHandle nh_;
    ros::NodeHandle nhp_;

    bool init_; 
    double last_ros_sync_; 
    double timer_period_; 
    double max_unsync_time_; 
    ros::Timer sync_timer_; 
    string camera_; 

    // Topic sync
    typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image,
                                                            sensor_msgs::Image,
                                                            sensor_msgs::CameraInfo,
                                                            sensor_msgs::CameraInfo> SyncPolicy;
    typedef message_filters::Synchronizer<SyncPolicy> SyncType;

    // Image transport
    image_transport::ImageTransport it_;

    ros::Publisher pub_info_; 
};
}
#endif