Positional Tracking in ROS wrapper ZED2i

[LyLewis]

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

As i want to use ZED2i for mapping around my robot, the positional tracking is vital for everything. When i initialize and start the ROS node, everything for the tracking(pose, path map...) is normal, tracking state is acceptable as well, but the pose jumped far away after the camera stay statics for a while.,that's wired. i doubt that it is cased by the IMU fusion noise. would you have some idea for that?

Use-Case

i want a accurate positional tracking in ZED2i;
platform i used:
Jetson Orin NX 16GB;
ZED2i;
Jetpack 5.1.3;
CUDA 11.4;
ROS noetic

Anything else?

No response