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I found the problem. In the scanCallback, for every LiDAR frame, the latest LiDAR, camera image, IMU, odom data was saved to a file so I can debug offline. I did not use ROS bag file because I believe my own format is more compact. Regular fopen, fwrite were used when saving this data. I found sometimes, it took a long time (a couple seconds) to save even a very small amount of data, odom for example. I do not understand why...