imu_rate stamp does not cover the scan duration range!!

[xiaohu-art]

Hello! Thank you for your work.
Currently i am trying to reproduce this GLIM project and plan to run SLAM odometry on my own robot.
So I download the test data os1_128_01_downsampled and try to mimic the real robot sensor data stream.
The attachmens are the publish node script

CMakeLists.txt

glim_rospub.cpp

And I conduct the following command:

ros2 run glim_ros glim_rosnode

ros2 run glim_ros glim_rospub os1_128_01_downsampled

And I got warning like:

[2025-12-17 15:11:57.805] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955512.6614034 scan_end=1765955512.6624677)
[2025-12-17 15:12:05.989] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955520.8614764 scan_end=1765955520.862667)
[2025-12-17 15:12:07.822] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955522.7613802 scan_end=1765955522.7629695)
[2025-12-17 15:12:08.611] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955523.5613856 scan_end=1765955523.5630283)
[2025-12-17 15:12:08.690] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955523.6613822 scan_end=1765955523.66265)
[2025-12-17 15:12:09.209] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955524.1613913 scan_end=1765955524.1624873)
[2025-12-17 15:12:09.294] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955524.2613919 scan_end=1765955524.2632852)
[2025-12-17 15:12:09.409] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955524.3613842 scan_end=1765955524.3643708)
[2025-12-17 15:12:09.494] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955524.4613838 scan_end=1765955524.462732)
[2025-12-17 15:12:10.706] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955525.6614065 scan_end=1765955525.6624067)
[2025-12-17 15:12:11.702] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955526.6613977 scan_end=1765955526.6624286)
[2025-12-17 15:12:12.811] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955527.7613957 scan_end=1765955527.762976)
[2025-12-17 15:12:12.908] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955527.8613987 scan_end=1765955527.8628085)
[2025-12-17 15:12:13.982] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955528.8614302 scan_end=1765955528.862742)
[2025-12-17 15:12:15.114] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955530.0614007 scan_end=1765955530.0626597)
[2025-12-17 15:12:20.836] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955535.761419 scan_end=1765955535.7631102)
[2025-12-17 15:12:21.927] [submap] [warning] imu_rate stamp does not cover the scan duration range!! (imu_rate_end=1765955536.86142 scan_end=1765955536.8631537)

That is why I am confused.
Is there any specific bug in my publish code ? or is there something wrong with the way I process the data stream ?