ros2 message filter

[yudonghou123]

系统UBUNTU22.04,ROS2 HUMBLE
各位大佬，我使用Message filter想做时间软同步，代码如下：

#include <memory>
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <cstring>
#include "rclcpp/rclcpp.hpp"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>

#include "dvl_msgs/msg/odom.hpp"
#include "ahrs_msgs/msg/fn70_auxa.hpp"
#include "plc_msgs/msg/sensor.hpp"

using namespace message_filters;
using std::placeholders::_1;
using std::placeholders::_2;
using std::placeholders::_3;
class AUVSENSORS_MESSAGES : public rclcpp::Node
{
public:     
    AUVSENSORS_MESSAGES() : Node("auvsensors_message")
    {
        odom_sub_.subscribe(this,"/dvl/odom");
        imu_sub_.subscribe(this,"/ahrs/raw");
        depth_sub_.subscribe(this,"/plc");

        sync_ = std::make_shared<message_filters::TimeSynchronizer<dvl_msgs::msg::Odom, ahrs_msgs::msg::Fn70Auxa, plc_msgs::msg::Sensor>>(odom_sub_, imu_sub_, depth_sub_,10);
        sync_->registerCallback(std::bind(&AUVSENSORS_MESSAGES::disparityCb, this, _1, _2, _3));

    }

private:
    void disparityCb(const dvl_msgs::msg::Odom::ConstSharedPtr& dvl_msg, const ahrs_msgs::msg::Fn70Auxa::ConstSharedPtr& imu_msg,const plc_msgs::msg::Sensor::ConstSharedPtr& ph_msg)
    {
        const char *t_1 = std::to_string(dvl_msg->linear.x).c_str();
        const char *t_2 = std::to_string(dvl_msg->linear.x).c_str();
        const char *t_3 = std::to_string(dvl_msg->linear.x).c_str();
        const char *t_4 = std::to_string(imu_msg->altitude).c_str();
        const char *t_5 = std::to_string(ph_msg->depth).c_str();
        RCLCPP_INFO(this->get_logger(), "消息：%s,%s,%s,%s,%s", t_1,t_2,t_3,t_4,t_5);
    }
    message_filters::Subscriber<dvl_msgs::msg::Odom> odom_sub_ ;             
    message_filters::Subscriber<ahrs_msgs::msg::Fn70Auxa> imu_sub_;          
    message_filters::Subscriber<plc_msgs::msg::Sensor> depth_sub_; 
    std::shared_ptr<message_filters::TimeSynchronizer<dvl_msgs::msg::Odom, ahrs_msgs::msg::Fn70Auxa, plc_msgs::msg::Sensor>> sync_;
};

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

我想输出几个实例数据，因此我运行记录数据的bag包，其能够正常play，

os2 bag play rosbag2_2023_12_08-15_36_13
[INFO] [1702044100.446161521] [rosbag2_storage]: Opened database 'rosbag2_2023_12_08-15_36_13/rosbag2_2023_12_08-15_36_13_0.db3' for READ_ONLY.
[INFO] [1702044100.446240068] [rosbag2_player]: Set rate to 1
[INFO] [1702044100.456354394] [rosbag2_player]: Adding keyboard callbacks.
[INFO] [1702044100.456406646] [rosbag2_player]: Press SPACE for Pause/Resume
[INFO] [1702044100.456417656] [rosbag2_player]: Press CURSOR_RIGHT for Play Next Message
[INFO] [1702044100.456426625] [rosbag2_player]: Press CURSOR_UP for Increase Rate 10%
[INFO] [1702044100.456434797] [rosbag2_player]: Press CURSOR_DOWN for Decrease Rate 10%
[INFO] [1702044100.456868918] [rosbag2_storage]: Opened database 'rosbag2_2023_12_08-15_36_13/rosbag2_2023_12_08-15_36_13_0.db3' for READ_ONLY.

但是我订阅其话题并实现时间同步输出实例参数的终端报以下错误，这是怎么回事，怎样解决呢？

terminate called after throwing an instance of 'std::runtime_error'
  what():  can't compare times with different time sources
[ros2run]: Aborted