run the ros Stereo_inertial(in ROS) blocked with "not IMU meas"?

[Seasons2020]

When I run the Stereo_iertial in ROS，I get the Information about issure

rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt MyConfiguation/MyStereo_Inertial.yaml false

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo-Inertial

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 

Camera Parameters: 
- Camera: Pinhole
- fx: 609.078
- fy: 609.097
- cx: 323.715
- cy: 239.456
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 30
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 2.8731

ORB Extractor Parameters: 
- Number of Features: 1200
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): 
[1, 0, 0, -0.0055200001;
 0, 1, 0, 0.0051000002;
 0, 0, 1, 0.01174;
 0, 0, 0, 1]

IMU frequency: 400 Hz
IMU gyro noise: 0.0032101 rad/s/sqrt(Hz)
IMU gyro walk: 2.24532e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.0223046 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.000418772 m/s^3/sqrt(Hz)
not IMU meas
not IMU meas
not IMU meas
not IMU meas
not IMU meas
not IMU meas

I have try many methods that I can try, such as #620, #28, #150 , #125, #267 which are related to the issue about "not IMU meas", but my issue also exist.Maybe the issue is same with #132. Because it work when I run Stereo.I also use realsense camera D435i. I alse guess that the issue resulted from my wrong IMU initialization, then I do same things as #150, tilting the system in pitch and roll at the beginning. But all obove don't work well. I guess that there is something wrong with my yaml file.

The following is my configuration:

  %YAML:1.0

  Camera.type: "PinHole"

  Camera.fx: 609.077697753906
  Camera.fy: 609.097290039062
  Camera.cx: 323.714874267578
  Camera.cy: 239.456405639648

  Camera.k1: 0.0
  Camera.k2: 0.0
  Camera.p1: 0.0
  Camera.p2: 0.0

  Camera.bFishEye: 0

  Camera.width: 640
  Camera.height: 480

  Camera.fps: 30.0

  Camera.bf: 49.9983802437782

  # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
  Camera.RGB: 1

  # Close/Far threshold. Baseline times.
  ThDepth: 35.0

  # 矫正参数
  # Transformation from camera 0(infra1) to body-frame (imu)
  Tbc: !!opencv-matrix
     rows: 4
     cols: 4
     dt: f
     data: [1.0, 0.0, 0.0, -0.00552000012248755, 
              0.0, 1.0, 0.0, 0.00510000018402934,
              0.0, 0.0, 1.0, 0.011739999987185,
              0.0,0.0,0.0,1.0]

  # IMU noise
  IMU.NoiseGyro: 3.2100952823795516e-03 # 1.6968e-04 
  IMU.NoiseAcc: 2.2304645905508961e-02 # 2.0000e-3
  IMU.GyroWalk: 2.2453169929039468e-05 
  IMU.AccWalk: 4.1877218867360575e-04 # 3.0000e-3
  IMU.Frequency: 400

  #--------------------------------------------------------------------------------------------
  # ORB Parameters
  #--------------------------------------------------------------------------------------------

  # ORB Extractor: Number of features per image
  ORBextractor.nFeatures: 1200

  # ORB Extractor: Scale factor between levels in the scale pyramid     
  ORBextractor.scaleFactor: 1.2

  # ORB Extractor: Number of levels in the scale pyramid    
  ORBextractor.nLevels: 8

  # ORB Extractor: Fast threshold
  # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
  # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
  # You can lower these values if your images have low contrast         
  ORBextractor.iniThFAST: 20
  ORBextractor.minThFAST: 7

  #--------------------------------------------------------------------------------------------
  # Viewer Parameters
  #--------------------------------------------------------------------------------------------
  Viewer.KeyFrameSize: 0.05
  Viewer.KeyFrameLineWidth: 1
  Viewer.GraphLineWidth: 0.9
  Viewer.PointSize: 2
  Viewer.CameraSize: 0.08
  Viewer.CameraLineWidth: 3
  Viewer.ViewpointX: 0
  Viewer.ViewpointY: -0.7
  Viewer.ViewpointZ: -1.8
  Viewer.ViewpointF: 500

The "Tbc" is provided with by D435i, and it is the Extrinsic from "Infrared 1" To "Imu" , as well as Intrinsic of camera. I use rs-enumerate-devices -c get device information about D435i. Can you give me some advices to solve it?

[Seasons2020]

This issue was caused by the version of realsense_ros.

[HaogeZhou]

Hi, I meet the same error when I am using my own data to run stereo_inertial, do you how to fix it?