Cartographer crashes on real robot

Course Support ROS2 Navigation
1

I’m running Cartographer ROS2 (Humble) on a real TurtleBot (not simulation), and Cartographer crashes a few seconds after startup with the following error:

[cartographer_node-1] F1008 13:51:29.338438  5672 pose_extrapolator.cc:229] 
Check failed: time >= imu_tracker->time() (638955282893037000 vs. 638955282893090070)
[cartographer_node-1] [FATAL] [1759931489.339199333] [cartographer logger]: 
F1008 13:51:29.000000  5672 pose_extrapolator.cc:229] 
Check failed: time >= imu_tracker->time() (638955282893037000 vs. 638955282893090070)

I am using this setup:
TRAJECTORY_BUILDER_2D.use_imu_data = false
use_odometry = true
provide_odom_frame = false
map_frame = “map”
tracking_frame = “base_footprint”
published_frame = “odom”
use_imu_data = false
all nodes are set to disable sim_time.

Launch:
ros2 launch project_mapping cartographer.launch.py use_sim_time:=False

Cartographer starts fine and begins building submaps before the fatal crash.
How can I prevent this timestamp error when running Cartographer without IMU data on a real TurtleBot?
Is there a known way to completely disable IMU tracking or avoid this pose_extrapolator.cc failure?

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