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If I remember correctly, the bag.write() takes the topic name, the message and the timestamp as arguments, but you're passing the frame id as the third argument.

Instead of:

output.write(topic, msg, msg.header.frame_id)

Try using the timestamp from the original bag file:

output.write(topic, msg, t)

P.S. - Your IMU messages should probably all have the same frame ID

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