From 515eb50d83ad71bbe11a3e7292e9c349a8fe3ed6 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 10 Nov 2025 04:48:44 +0000
Subject: [PATCH] cherry picked
 https://github.com/introlab/rtabmap_ros/commit/e245b7751edf3f1c3b74578527c707b5aa3e630c
 for ros1 port

---
 rtabmap_odom/src/OdometryROS.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/rtabmap_odom/src/OdometryROS.cpp b/rtabmap_odom/src/OdometryROS.cpp
index 9843afeb..d8ebe76d 100644
--- a/rtabmap_odom/src/OdometryROS.cpp
+++ b/rtabmap_odom/src/OdometryROS.cpp
@@ -567,9 +567,8 @@ void OdometryROS::processData()
 		for(std::map<double, rtabmap::IMU>::iterator iter=iterFirst; iter!=iterEnd;)
 		{
 			// Because we always keep the last processed imu in the buffer, skip the first 
-			// one when processing again the buffer unless its time is lower/equal to image 
-			// current stamp (could happen on initialization).
-			if(iter!=iterFirst || iter->first <= header.stamp.toSec()) {
+			// one when processing again the buffer
+			if(iter!=iterFirst) {
 				imus.push_back(*iter);
 			}
 			if(iter!=iterLast) {