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Hey, you need a IMU topic that publich /imu msg. I d'ont know, if you can use it only with /scan and /odom topic you have to change the configuration in your backpack_2d.lua.

use_laser_scan = true, use_multi_echo_laser_scan = false,

read this: https://google-cartographer-ros.readthedocs.io/en/latest/configuration.html

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