//  接收odom和status两个topic
    message_filters::Subscriber<nav_msgs::Odometry> sub_odom(
        n, TOPIC_NAME_ODOM, 1, ros::TransportHints().tcpNoDelay());
    message_filters::Subscriber<hdl_localization::ScanMatchingStatus> sub_status(
        n, TOPIC_NAME_STATUS, 1, ros::TransportHints().tcpNoDelay());

    // 同步数据
    typedef message_filters::sync_policies::ApproximateTime<nav_msgs::Odometry, hdl_localization::ScanMatchingStatus> syncPolicy;
    message_filters::Synchronizer<syncPolicy> sync(syncPolicy(10), sub_odom, sub_status);
    sync.registerCallback(boost::bind(&pubPoseThread, _1, _2, SAVE_LOC_FILE));
    ros::Rate loop_rate(LOOP_RATE);

    while (ros::ok())
{
//method
        ros::spinOnce();
        loop_rate.sleep();
}