IMU-Lidar timestamp issue

[Efesendil]

Hello, I am getting inconsistent (the map drifts after a while) results while using imu and lidar together in carla sim, what could be the issue for the warnings below ?

[2024-12-05 01:03:42.608] [odom] [warning] insufficient number of IMU data between LiDAR scans!! (odometry_estimation) [2024-12-05 01:03:42.608] [odom] [warning] t_last=179.920230 t_current=179.970230 num_imu=1 [2024-12-05 01:03:42.681] [odom] [warning] insufficient number of IMU data between LiDAR scans!! (odometry_estimation) [2024-12-05 01:03:42.681] [odom] [warning] t_last=179.970230 t_current=180.020230 num_imu=1 [2024-12-05 01:03:42.751] [odom] [warning] insufficient number of IMU data between LiDAR scans!! (odometry_estimation) [2024-12-05 01:03:42.751] [odom] [warning] t_last=180.020230 t_current=180.070230 num_imu=1

[ooww0123TW]

How frequently your imu and lidar data published?