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"imu_msg" as a frame name sounds fishy to me. Do you have an IMU on your robot or not? If you don't , you'll need to disable using IMU data in your configuration. Based on the imu_tracker error, I expect your IMU data is someone incorrect/bogus.

"imu_msg" as a frame name sounds fishy to me. Do you have an IMU on your robot or not? If you don't , you'll need to disable using IMU data in your configuration. Based on the imu_tracker error, I expect your IMU data is someone somehow incorrect/bogus.