documentclass[border=1pt, tikz]{standalone}
usepackage{tikz}

usetikzlibrary{positioning,calc}
usetikzlibrary{decorations.pathreplacing}
usetikzlibrary{shapes.geometric,shapes.arrows,decorations.pathmorphing}
usetikzlibrary{matrix,chains,scopes,positioning,arrows,fit}

begin{document}
begin{tikzpicture}
    [mynode/.style = {rectangle, draw, align=center,
            inner xsep=6mm, inner ysep=3mm, rounded corners},
    -latex,
    ]

    % nodes
    % node[mynode, label={[name=lab]Camera & Infrared Sensor}] (inner1);
    node[mynode, label={[name=lab]Camera & Infrared Sensor}] (inner1) {Time Synchronization};
    node[mynode, below=12mm of inner1] (justbelow) {Resampling};
    node[fit={(lab) (justbelow)  (inner1)}, draw] (outer2) {};

    end{tikzpicture}
end{document}