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Refer to code snippet below, this was quite troublesome to get it working but this code is known to be working under Foxy

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::image, sensor_msgs::msg::image=""> RGBDApprxTimeSyncPolicy; typedef message_filters::Synchronizer<rgbdapprxtimesyncpolicy> RGBDApprxTimeSyncer;

        // subscriber for color cam in case rgbd camera model localization
        message_filters::Subscriber<sensor_msgs::msg::Image> rgbd_color_image_subscriber_;
        // subscriber for depth cam in case rgbd camera model localization
        message_filters::Subscriber<sensor_msgs::msg::Image> rgbd_depth_image_subscriber_;


    void rgbdCallback(
          const sensor_msgs::msg::Image::ConstSharedPtr & color,
          const sensor_msgs::msg::Image::ConstSharedPtr & depth);

          rgbd_color_image_subscriber_.subscribe(
            this, "camera/color/image_raw",
            rmw_qos_profile_sensor_data);
          rgbd_depth_image_subscriber_.subscribe(
            this, "camera/depth/image_raw",
            rmw_qos_profile_sensor_data);
          rgbd_approx_time_syncher_.reset(
            new RGBDApprxTimeSyncer(
              RGBDApprxTimeSyncPolicy(10),
              rgbd_color_image_subscriber_,
              rgbd_depth_image_subscriber_));
          rgbd_approx_time_syncher_->registerCallback(
            std::bind(
              &YourClass::rgbdCallback, this, std::placeholders::_1,
              std::placeholders::_2));

void YourClass::rgbdCallback(
    const sensor_msgs::msg::Image::ConstSharedPtr & color,
    const sensor_msgs::msg::Image::ConstSharedPtr & depth)
  {

    auto colorcv = cv_bridge::toCvShare(color)->image;
    auto depthcv = cv_bridge::toCvShare(depth)->image;
    if (colorcv.empty() || depthcv.empty()) {
      return;
    }
   // do something with recieved messages

}

Refer to code snippet below, this was quite troublesome to get it working but this code is known to be working under Foxy

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image,
                sensor_msgs::msg::Image>
              RGBDApprxTimeSyncPolicy;
            typedef message_filters::Synchronizer<RGBDApprxTimeSyncPolicy> RGBDApprxTimeSyncer;

            // subscriber for color cam in case rgbd camera model localization
         message_filters::Subscriber<sensor_msgs::msg::Image> rgbd_color_image_subscriber_;
         // subscriber for depth cam in case rgbd camera model localization
         message_filters::Subscriber<sensor_msgs::msg::Image> rgbd_depth_image_subscriber_;


     void rgbdCallback(
           const sensor_msgs::msg::Image::ConstSharedPtr & color,
           const sensor_msgs::msg::Image::ConstSharedPtr & depth);

           rgbd_color_image_subscriber_.subscribe(
             this, "camera/color/image_raw",
             rmw_qos_profile_sensor_data);
           rgbd_depth_image_subscriber_.subscribe(
             this, "camera/depth/image_raw",
             rmw_qos_profile_sensor_data);
           rgbd_approx_time_syncher_.reset(
             new RGBDApprxTimeSyncer(
               RGBDApprxTimeSyncPolicy(10),
               rgbd_color_image_subscriber_,
               rgbd_depth_image_subscriber_));
           rgbd_approx_time_syncher_->registerCallback(
             std::bind(
               &YourClass::rgbdCallback, this, std::placeholders::_1,
               std::placeholders::_2));

 void YourClass::rgbdCallback(
     const sensor_msgs::msg::Image::ConstSharedPtr & color,
     const sensor_msgs::msg::Image::ConstSharedPtr & depth)
   {

     auto colorcv = cv_bridge::toCvShare(color)->image;
     auto depthcv = cv_bridge::toCvShare(depth)->image;
     if (colorcv.empty() || depthcv.empty()) {
       return;
     }
    // do something with recieved messages

 }