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@xuhao1 Which coordinate did you transform imu link to? NED to ENU or other? I see your body_T_cam in vins yaml, is corresponding to ENU. The linear vel from NED...

I dont think it's the problem with Ubuntu 18.04, because I have complied successfully using Ubuntu 18.04. Maybe your Eigen version is not suited with the code. My verision is...

And you have to change whycon/src/ros/whycon_nodelet.cpp "PLUGINLIB_DECLARE_CLASS(whycon, WhyconNodelet, whycon::WhyconNodelet, nodelet::Nodelet)" to "PLUGINLIB_EXPORT_CLASS(whycon::WhyconNodelet, nodelet::Nodelet) "