You may give a try. Before the change, VINS was drifting almost instantly. Note also the unite_imu_method parameter has been set to copy instead of linear_interpolation. It seems with latest realsense package, linear_interpolation mode is very unstable, sometimes no imu published for a couple of seconds, then VINS automatically loses its tracking. With copy mode, there is a more constant flow of imu topics, though not sure it is ideal.