How to use ZED2 with IMU in cuVSLAM?

System setup
A clear and concise description of the system setup.

Hardware ASUSTeK COMPUTER INC. ROG Strix G834JZ_G834JZ
GPU/driver/cuda version, etc. GeForce RTX 4080 Driver Version: 580.126.09 CUDA Version: 13.0
OS Ubuntu 24.04
Camera setup
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Camera model ZED2 from stereolab
Calibrated or not
Camera integration (to the robot / frame, etc)
Use 'N/A' if you are not using a camera
Description
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Please include screenshots or videos if necessary.
I fellow this tutorial https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_visual_slam/isaac_ros_visual_slam/index.html
there is a command in the tutorial :
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py
launch_fragments:=zed_stereo_rect,visual_slam pub_frame_rate:=30.0
base_frame:=zed2_camera_center camera_optical_frames:="['zed2_left_camera_frame_optical', 'zed2_right_camera_frame_optical']"
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/zed2_quickstart_interface_specs.json

I changed it to :
ros2 launch isaac_ros_examples isaac_ros_examples.launch.py
launch_fragments:=zed_stereo_rect,visual_slam
pub_frame_rate:=30.0
tracking_mode:=1
base_frame:=zed2_camera_center
imu_frame:=zed2_imu_link
camera_optical_frames:="['zed2_left_camera_frame_optical', 'zed2_right_camera_frame_optical']"
interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_visual_slam/zed2_quickstart_interface_specs.json

and run "ros2 run topic_tools relay /zed_node/imu/data /visual_slam/imu" ,
"ros2 run tf2_ros static_transform_publisher
--x -0.002
--y -0.023061
--z 0.000217
--qx -0.0001385
--qy -0.0008598
--qz -0.0013685
--qw 0.9999987
--frame-id zed2_camera_center
--child-frame-id zed2_imu_link"
in two seperate terminal,
but the trajectory I obtained is significantly deviated from reality. I try this for whole day.

To Reproduce
Steps to reproduce the behavior.
I run isaac-ros in Virtual Env, atatch ZED2 to computer, and run the command above is OK.

Expected behavior
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What you have tried
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Additional information
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