Why MID360 topics are varying in rosbag record.

[rahulsharma11]

Hi.

I am using MID360 for my application to build the SLAM.
I am using FASTLIO for that. It usually works great.

Issue:
I am doing data collection for more than 40 mins at single run and splitting the dump on every 30 seconds.
Topics should be consistent like:
bagfile1:
/livox/imu -> 6000
/livox/lidar -> 300

bagfile2:
/livox/imu -> 6000
/livox/lidar -> 300

.....

But randomly i am getting:
bagfile 4:
/livox/imu -> 5900
/livox/lidar -> 112

bagfile 10:
/livox/imu -> 5920
/livox/lidar -> 210

bagfile 20:
/livox/imu -> 5898
/livox/lidar -> 63

The topics are fine in other bag files.

This is happening so random that makes my SLAM drift.
I am not sure why it is happening. I am taking precautions of Lidar Connections as well.
Any suggestions?

Thanks.