Check failed: time >= imu_tracker->time()

[bruz-z]

I installed the d435i camera on the turtlebot3, and then executed roslaunch realsense2_camera rs_camera.launch. After that, I executed another open-source project, which would call cartographer. However, after running it for a while, the following error occurred:

[WARN] [1761985647.776146372]: W1101 16:27:27.000000  5522 range_data_collator.cc:82] Dropped 1 earlier points.
[WARN] [1761985647.976190823]: W1101 16:27:27.000000  5522 range_data_collator.cc:82] Dropped 1 earlier points.
[WARN] [1761985648.168816485]: W1101 16:27:28.000000  5522 range_data_collator.cc:82] Dropped 1 earlier points.
[WARN] [1761985648.580201504]: W1101 16:27:28.000000  5522 range_data_collator.cc:82] Dropped 1 earlier points.
F1101 16:27:28.711973  5522 pose_extrapolator.cc:229] Check failed: time >= imu_tracker->time() (638975824486905850 vs. 638975824487155917) 
[FATAL] [1761985648.712647219]: F1101 16:27:28.000000  5522 pose_extrapolator.cc:229] Check failed: time >= imu_tracker->time() (638975824486905850 vs. 638975824487155917) 
*** Check failure stack trace: ***
    @     0xffffa70de478  google::LogMessage::Fail()
    @     0xffffa70e3114  google::LogMessage::SendToLog()
    @     0xffffa70de16c  google::LogMessage::Flush()
    @     0xffffa70de9ec  google::LogMessageFatal::~LogMessageFatal()
    @     0xaaaacbcf6cac  cartographer::mapping::PoseExtrapolator::ExtrapolateRotation()
    @     0xaaaacbcf75cc  cartographer::mapping::PoseExtrapolator::AddOdometryData()
    @     0xaaaacbc8e0f4  cartographer_ros::Node::HandleOdometryMessage()
    @     0xaaaacbcad044  boost::detail::function::void_function_obj_invoker1<>::invoke()
    @     0xaaaacbcaea98  ros::SubscriptionCallbackHelperT<>::call()
    @     0xffffa5a5c01c  ros::SubscriptionQueue::call()
    @     0xffffa5a0790c  ros::CallbackQueue::callOneCB()
    @     0xffffa5a09454  ros::CallbackQueue::callAvailable()
    @     0xffffa5a5f8e0  ros::SingleThreadedSpinner::spin()
    @     0xffffa5a47b78  ros::spin()
    @     0xaaaacbc87538  cartographer_ros::(anonymous namespace)::Run()
    @     0xaaaacbc84204  main
    @     0xffffa5457e10  __libc_start_main
    @     0xaaaacbc87048  (unknown)
[robot1/cartographer_node-1] process has died [pid 5522, exit code -6, cmd /home/jetson/catkin_ws/devel_isolated/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /home/jetson/cogmap_ws/src/cog_map/turtlebot3sim/config -configuration_basename turtlebot3_robot1.lua imu:=flat_imu __name:=cartographer_node __log:=/home/jetson/.ros/log/38561ffc-b6fc-11f0-9b68-b46dc2cbdeec/robot1-cartographer_node-1.log].
log file: /home/jetson/.ros/log/38561ffc-b6fc-11f0-9b68-b46dc2cbdeec/robot1-cartographer_node-1*.log

If cartographer is run alone without starting the d435i camera, there will be no problem. How can I solve this?

[bufeng-12]

您好！我已收到你的邮件！谢谢！          ——曾君

[bruz-z]

大佬帮帮俺吧，谢谢您