Check failed: time >= imu_tracker->time()
Author: bruz-zCreated Nov 4, 2025Updated Nov 4, 2025
I installed the d435i camera on the turtlebot3, and then executed roslaunch realsense2_camera rs_camera.launch. After that, I executed another open-source project, which would call cartographer. However, after running it for a while, the following error occurred:
[WARN] [1761985647.776146372]: W1101 16:27:27.000000 5522 range_data_collator.cc:82] Dropped 1 earlier points.
[WARN] [1761985647.976190823]: W1101 16:27:27.000000 5522 range_data_collator.cc:82] Dropped 1 earlier points.
[WARN] [1761985648.168816485]: W1101 16:27:28.000000 5522 range_data_collator.cc:82] Dropped 1 earlier points.
[WARN] [1761985648.580201504]: W1101 16:27:28.000000 5522 range_data_collator.cc:82] Dropped 1 earlier points.
F1101 16:27:28.711973 5522 pose_extrapolator.cc:229] Check failed: time >= imu_tracker->time() (638975824486905850 vs. 638975824487155917)
[FATAL] [1761985648.712647219]: F1101 16:27:28.000000 5522 pose_extrapolator.cc:229] Check failed: time >= imu_tracker->time() (638975824486905850 vs. 638975824487155917)
*** Check failure stack trace: ***
@ 0xffffa70de478 google::LogMessage::Fail()
@ 0xffffa70e3114 google::LogMessage::SendToLog()
@ 0xffffa70de16c google::LogMessage::Flush()
@ 0xffffa70de9ec google::LogMessageFatal::~LogMessageFatal()
@ 0xaaaacbcf6cac cartographer::mapping::PoseExtrapolator::ExtrapolateRotation()
@ 0xaaaacbcf75cc cartographer::mapping::PoseExtrapolator::AddOdometryData()
@ 0xaaaacbc8e0f4 cartographer_ros::Node::HandleOdometryMessage()
@ 0xaaaacbcad044 boost::detail::function::void_function_obj_invoker1<>::invoke()
@ 0xaaaacbcaea98 ros::SubscriptionCallbackHelperT<>::call()
@ 0xffffa5a5c01c ros::SubscriptionQueue::call()
@ 0xffffa5a0790c ros::CallbackQueue::callOneCB()
@ 0xffffa5a09454 ros::CallbackQueue::callAvailable()
@ 0xffffa5a5f8e0 ros::SingleThreadedSpinner::spin()
@ 0xffffa5a47b78 ros::spin()
@ 0xaaaacbc87538 cartographer_ros::(anonymous namespace)::Run()
@ 0xaaaacbc84204 main
@ 0xffffa5457e10 __libc_start_main
@ 0xaaaacbc87048 (unknown)
[robot1/cartographer_node-1] process has died [pid 5522, exit code -6, cmd /home/jetson/catkin_ws/devel_isolated/cartographer_ros/lib/cartographer_ros/cartographer_node -configuration_directory /home/jetson/cogmap_ws/src/cog_map/turtlebot3sim/config -configuration_basename turtlebot3_robot1.lua imu:=flat_imu __name:=cartographer_node __log:=/home/jetson/.ros/log/38561ffc-b6fc-11f0-9b68-b46dc2cbdeec/robot1-cartographer_node-1.log].
log file: /home/jetson/.ros/log/38561ffc-b6fc-11f0-9b68-b46dc2cbdeec/robot1-cartographer_node-1*.logIf cartographer is run alone without starting the d435i camera, there will be no problem. How can I solve this?
Source: cartographer-project/cartographer