We are receiving imu data (buffer=37), but cannot interpolate imu transform at time. IMU won't be added to graph.

Posted by grzegorz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/We-are-receiving-imu-data-buffer-37-but-cannot-interpolate-imu-transform-at-time-IMU-won-t-be-added--tp10510.html

Dear Sir or Madame,

I am aware of other threads in this topic, however those are kind of no longer alive, so I decided to write my own.

I am receiving a message:
`We are receiving imu data (buffer=37), but cannot interpolate imu transform at time 1728403692.106505. IMU won't be added to graph.`

I already learned that it comes from:
https://github.com/introlab/rtabmap_ros/blob/23c06875b9369988a2815edb915cd1eade85031a/src/CoreWrapper.cpp#L2017-L2045

However I am not sure what may cause the issue.
I am using stereo cameras and IMU and for now I have following tf tree:


Currently, both images and IMU are published with a frequency of 15 Hz.

Please help if possible.