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@Kevin

I did that and got the viso2_ros output on the /vo topic. Thanks to you.

When I launch the minimal.launch file and then run the mono_odometer I get the following error-:

Could not transform imu message from IMU to base_footprint. Imu will not be activated yet.

The rxconsole shows that the imu is deactivated and it tries to activate but can't .

If I kill the /vo topic everything works fine.

Sometimes (just once) I got this error Filter time older than vo message buffer.

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