Structure SDK warning: imuStream Dropping IMU data (Client not processing fast enough)

I am a new user of Structure Core device. I am using it via Structure SDK ros driver in Ubuntu 18.04. When I run “roslaunch structure_core_ros_driver ros_odometry.launch”, I have some warnings/error in fetching IMU odometry data. I get the following warnings/error:

HOST WARN 2020-02-24 10:48:52.010 :227 imuStream Dropping IMU data (Client not processing fast enough)
HOST WARN 2020-02-24 10:48:52.026 :227 imuStream Dropping IMU data (Client not processing fast enough)
HOST WARN 2020-02-24 10:48:52.027 :227 imuStream Dropping IMU data (Client not processing fast enough)

[ WARN] (2020-02-24 10:48:52.160) OdometryF2M.cpp:538::computeTransform() Registration failed: “Not enough inliers 0/20 (matches=4) between -1 and 2”

[ WARN] (2020-02-24 10:48:52.300) OdometryF2M.cpp:538::computeTransform() Registration failed: “Not enough inliers 0/20 (matches=4) between -1 and 5”

[ WARN] (2020-02-24 10:48:52.376) OdometryF2M.cpp:538::computeTransform() Registration failed: “Not enough inliers 0/20 (matches=3) between -1 and 7”

[ERROR] (2020-02-24 10:48:52.387) Rtabmap.cpp:1075::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 7 is ignored!


Please note: I have not copy pasted the entire log (wherein there are many variants of “Not enough inliers 0/20 (matches=…) between -1 and …”), rather I just have posted the warning/error categories.

Please help me to fix the odometry or imu get running and fetch the data.

Thanks in advance!