Zed mini Positional tracking searching for a known position

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Description

Hello Dear Community. I am using zed mini camera for the first time so I do not know what's happening. I want to obtain visual inertia odometry data. I was using before the realsense T265 but it's broke now so I changed to zed mini. After installing the latest SDK and install the ROS package, when I run the lunch file zed_wrapper zedm.launch but I get this message infinite times Positional tracking -> Searching for a known position [SEARCHING] Then if I echo this topic i can see the position and orientation but the position is giving me wrong values.

What could be the cause of this problem?

Steps to Reproduce

Install ROS melodic 2.Install latest SDK 3.7 3.Install zed_wrapper package
Run the launch file roslaunch zed_wrapper zedm.launch ...

Expected Result

Obtain position and orientation values

Actual Result

wrong values for position and orientation. message Positional tracking -> Searching for a known position [SEARCHING]

ZED Camera model

ZED Mini

Environment

OS: Ubuntu 18.04
ROS: Melodic
SDK: 3.7

Anything else?

If I change the parameter imu_fusion: to false, I can get better values but it seems is not using its IMU. zedmini

stereolabs / zed-ros-wrapper