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If this is happening only once or twice shortly after startup, this should not be a problem (and I´ll have to look into suppressing the message, as a few people got confused by this already, for example here). If the problem persists and you don´t get a map out of the system, your tf setup most likely is not correct. It seems you try to use the "/thumper_imu" topic to publish the roll and pitch angle of the robot to tf (a setup that I used on one of our robots some time ago). Is that intended? If not, you should have a look at the hector_slam setup tutorial and the links there to see how a proper tf setup can be done.