ZED2i ROS Bags topics not Synchronized

[IbrahimElHadka]

Hello!

I am trying to run the zed2i rostopics (/zed2i/zed_node/left_raw/image_raw_color & zed2i/zed_node/imu/data_raw) on ORB-SLAM3 in monocular-inertial mode, however, the map keeps resetting. Here is a part of the output:

.....
Map point vector is empty!
Map point vector is empty!
First KF:48; Map init KF:22
New Map created with 74 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 247
mnInitialFrameId = 180
136 Frames set to lost
Map point vector is empty!
Map point vector is empty!
......

I have the same camera and I tried before to take a dataset with the same rostopics, also I faced the same issue.
I checked the dataset and found that the images and the imu data were not synchronized which may be the cause to this problem.

This is the result of the synchronization checking on your dataset:

Can you please advise if this is the actual cause of the problem and how can this issue be solved to run successfully in ORB-SLAM3 in monocular-inertial mode?