message_filters的问题

小猴同学

系统UBUNTU22.04,ros2 humble
各位大佬，我在使用message_filters时，订阅多个传感器的信息，我的程序如下

#include <memory>
#include <iostream>
#include <fstream>
#include <iomanip>
#include "rclcpp/rclcpp.hpp"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <fcntl.h>
#include <algorithm>
#include <sys/shm.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/signal9.h>
#include "auv_msgs/msg/imu.hpp"
#include "auv_msgs/msg/ctd.hpp"
#include "auv_msgs/msg/obstacl_esonar.hpp"
#include "auv_msgs/msg/usbl.hpp"
#include "auv_socket/USBL_STRUCT.h"
// 设置端口和数据长度
#define PORT 29
#define BUFSIZE 1024
extern bool error_flag;
// 23 DVL    26 IMU    29 USBL     32 BDS
char *SERVER_IP = "192.168.0.7";
using namespace std;
using namespace std::chrono_literals;

class imu_sensor_sub : public rclcpp::Node
{
public:
	imu_sensor_sub() : Node("imu_sensor_sub")
	{
		// 创建创建传感器订阅对象
		imu_sub_.subscribe(this,"imu_data");
		ctd_sub_.subscribe(this,"ctd_data");
		hsonar_sub_.subscribe(this,"sf_data");
		vsonar_sub_.subscribe(this,"sf_data_v");
		//设置message_filters同步订阅对象
		message_filters::TimeSynchronizer<auv_msgs::msg::IMU,auv_msgs::msg::CTD,auv_msgs::msg::OBSTACLEsonar,auv_msgs::msg::OBSTACLEsonar> sensor_info_(imu_sub_,ctd_sub_,hsonar_sub_,vsonar_sub_,5);
		sensor_info_.registerCallback(std::bind(&imu_sensor_sub::sensor_info_callback,this,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4));
		//imu_sub_ = this->create_subscription<auv_msgs::msg::IMU>("imu_data", 10, std::bind(&imu_sensor_sub::imu_callback, this, _1));
	}

private:
	void sensor_info_callback(const auv_msgs::msg::IMU &imu_msg, const auv_msgs::msg::CTD &ctd_msg, const auv_msgs::msg::OBSTACLEsonar &hsonar_msg,const auv_msgs::msg::OBSTACLEsonar &vsonar_msg)
	{ // socket通讯，创建socket对象和进行连接
		int socket_cli = socket(AF_INET, SOCK_STREAM, 0);
		if (socket_cli < 0)
		{
			RCLCPP_ERROR(this->get_logger(), "SENSOR SUB AND USBL TRANSMIT SOCKET ERROR");
		}
		struct sockaddr_in sev_addr;
		memset(&sev_addr, 0, sizeof(sev_addr));
		sev_addr.sin_family = AF_INET;
		sev_addr.sin_port = htons(PORT);
		sev_addr.sin_addr.s_addr = inet_addr(SERVER_IP);
		RCLCPP_INFO(this->get_logger(), "SENSOR SUB AND USBL TRANSMIT CONNECT RUNNING");
		// 判断连接是否正常
		if (connect(socket_cli, (struct sockaddr *)&sev_addr, sizeof(sev_addr)) < 0)
		{
			RCLCPP_ERROR(this->get_logger(), "SENSOR SUB AND USBL TRANSMIT CONNECT ERROR");
		}
		else
		{
			RCLCPP_INFO(this->get_logger(), "SENSOR SUB AND USBL TRANSMIT CONNECTED SUCCESS");
		}
		while (rclcpp::ok())
		{
			
	}
	message_filters::Subscriber<auv_msgs::msg::IMU> imu_sub_;
	message_filters::Subscriber<auv_msgs::msg::CTD> ctd_sub_;
	message_filters::Subscriber<auv_msgs::msg::OBSTACLEsonar> hsonar_sub_;
	message_filters::Subscriber<auv_msgs::msg::OBSTACLEsonar> vsonar_sub_;
	/* rclcpp::Subscription<auv_msgs::msg::IMU>::SharedPtr imu_sub_;
	rclcpp::Subscription<auv_msgs::msg::CTD>::SharedPtr ctd_sub_; */
};

int main(int argc, char *argv[])
{
	rclcpp::init(argc, argv);
	rclcpp::spin(std::make_shared<imu_sensor_sub>());
	rclcpp::shutdown();
	return 0;
}

终端始终报以下错误

/opt/ros/humble/include/message_filters/message_filters/signal9.h:234:14: note: candidate: ‘template<class T, class P0, class P1, class P2> message_filters::Connection message_filters::Signal9<M0, M1, M2, M3, M4, M5, M6, M7, M8>::addCallback(void (T::*)(P0, P1, P2), T*) [with T = T; P0 = P0; P1 = P1; P2 = P2; M0 = auv_msgs::msg::IMU_<std::allocator<void> >; M1 = auv_msgs::msg::CTD_<std::allocator<void> >; M2 = auv_msgs::msg::OBSTACLEsonar_<std::allocator<void> >; M3 = auv_msgs::msg::OBSTACLEsonar_<std::allocator<void> >; M4 = message_filters::NullType; M5 = message_filters::NullType; M6 = message_filters::NullType; M7 = message_filters::NullType; M8 = message_filters::NullType]’
  234 |   Connection addCallback(void(T::*callback)(P0, P1, P2), T* t)
      |              ^~~~~~~~~~~
/opt/ros/humble/include/message_filters/message_filters/signal9.h:234:14: note:   template argument deduction/substitution failed:
/opt/ros/humble/include/message_filters/message_filters/signal9.h:280:40: error: wrong number of template arguments (9, should be 4)
  272 |     return addCallback<const M0ConstPtr&,
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  273 |                      const M1ConstPtr&,
      |                      ~~~~~~~~~~~~~~~~~~ 
  274 |                      const M2ConstPtr&,
      |                      ~~~~~~~~~~~~~~~~~~ 
  275 |                      const M3ConstPtr&,
      |                      ~~~~~~~~~~~~~~~~~~ 
  276 |                      const M4ConstPtr&,
      |                      ~~~~~~~~~~~~~~~~~~ 
  277 |                      const M5ConstPtr&,
      |                      ~~~~~~~~~~~~~~~~~~ 
  278 |                      const M6ConstPtr&,
      |                      ~~~~~~~~~~~~~~~~~~ 
  279 |                      const M7ConstPtr&,
      |                      ~~~~~~~~~~~~~~~~~~ 
  280 |                      const M8ConstPtr&>(std::bind(callback, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5, std::placeholders::_6, std::placeholders::_7, std::placeholders::_8, std::placeholders::_9));
      |                      ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/humble/include/message_filters/message_filters/signal9.h:234:14: note: provided for ‘template<class T, class P0, class P1, class P2> message_filters::Connection message_filters::Signal9<M0, M1, M2, M3, M4, M5, M6, M7, M8>::addCallback(void (T::*)(P0, P1, P2), T*) [with T = T; P0 = P0; P1 = P1; P2 = P2; M0 = auv_msgs::msg::IMU_<std::allocator<void> >; M1 = auv_msgs::msg::CTD_<std::allocator<void> >; M2 = auv_msgs::msg::OBSTACLEsonar_<std::allocator<void> >; M3 = auv_msgs::msg::OBSTACLEsonar_<std::allocator<void> >; M4 = message_filters::NullType; M5 = message_filters::NullType; M6 = message_filters::NullType; M7 = message_filters::NullType; M8 = message_filters::NullType]’
  234 |   Connection addCallback(void(T::*callback)(P0, P1, P2), T* t)
      |              ^~~~~~~~~~~
/opt/ros/humble/include/message_filters/message_filters/signal9.h:240:14: note: candidate: ‘template<class T, class P0, class P1, class P2, class P3> message_filters::Connection message_filters::Signal9<M0, M1, M2, M3, M4, M5, M6, M7, M8>::addCallback(void (T::*)(P0, P1, P2, P3), T*) [with T = T; P0 = P0; P1 = P1; P2 = P2; P3 = P3; M0 = auv_msgs::msg::IMU_<std::allocator<void> >; M1 = auv_msgs::msg::CTD_<std::allocator<void> >; M2 = auv_msgs::msg::OBSTACLEsonar_<std::allocator<void> >; M3 = auv_msgs::msg::OBSTACLEsonar_<std::allocator<void> >; M4 = message_filters::NullType; M5 = message_filters::NullType; M6 = message_filters::NullType; M7 = message_filters::NullType; M8 = message_filters::NullType]’
  240 |   Connection addCallback(void(T::*callback)(P0, P1, P2, P3), T* t)
      |              ^~~~~~~~~~~
/opt/ros/humble/include/message_filters/message_filters/signal9.h:240:14: note:   template argument deduction/substitution failed:
/opt/ros/humble/include/message_filters/message_filters/signal9.h:280:40: error: wrong number of template arguments (9, should be 5)

问题大概是这种，重复了九次，请问我这个问题出在哪里，模板函数明明有，奇怪