diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index d03ed32..c05c3e0 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -51,7 +51,6 @@ inline double compute_time(const double end, const double start) {
 class ROSWrapperNodelet : public nodelet::Nodelet {
  public:
     ROSWrapperNodelet() {
-      pthread_mutex_init(&mutex_data, nullptr);
     }
 
   ~ROSWrapperNodelet() {
@@ -112,7 +111,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     return now == pre;
   }
 
-  inline bool is_annormal(std::uint32_t now,
+  inline bool is_abnormal(std::uint32_t now,
       std::uint32_t pre) {
     static std::uint64_t unit =
       std::numeric_limits<std::uint32_t>::max();
@@ -129,11 +128,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
     if (is_overflow(_hard_time, hard_time_now[stream])) {
       acc[stream]++;
-    } else if (is_repeated(_hard_time, hard_time_now[stream])) {
-      NODELET_INFO_STREAM("WARNING:: Image time stamp is repeated.");
-    } else if (is_annormal(_hard_time, hard_time_now[stream])) {
-      NODELET_INFO_STREAM("WARNING:: Image time stamp is annormal.");
     }
+
     hard_time_now[stream] = _hard_time;
 
     return hardTimeToSoftTime(
@@ -147,11 +143,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
     if (is_overflow(_hard_time, hard_time_now)) {
       acc++;
-    } else if (is_repeated(_hard_time, hard_time_now)) {
-      NODELET_INFO_STREAM("WARNING:: Imu time stamp is repeated.");
-    } else if (is_annormal(_hard_time, hard_time_now)) {
-      NODELET_INFO_STREAM("WARNING:: Imu time stamp is annormal.");
     }
+
     hard_time_now = _hard_time;
 
     return hardTimeToSoftTime(
@@ -162,6 +155,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     initDevice();
     NODELET_FATAL_COND(api_ == nullptr, "No MYNT EYE device selected :(");
 
+    pthread_mutex_init(&mutex_data_, nullptr);
     nh_ = getMTNodeHandle();
     private_nh_ = getMTPrivateNodeHandle();
 
@@ -439,9 +433,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
             // img_time_prev = data.img->timestamp;
 
             ++left_count_;
-            pthread_mutex_lock(&mutex_data);
             publishCamera(Stream::LEFT, data, left_count_, stamp);
-            pthread_mutex_unlock(&mutex_data);
             NODELET_DEBUG_STREAM(
                 Stream::LEFT << ", count: " << left_count_
                              << ", frame_id: " << data.img->frame_id
@@ -461,9 +453,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                 data.img->timestamp, Stream::RIGHT);
 
             ++right_count_;
-            pthread_mutex_lock(&mutex_data);
             publishCamera(Stream::RIGHT, data, right_count_, stamp);
-            pthread_mutex_unlock(&mutex_data);
             NODELET_DEBUG_STREAM(
                 Stream::RIGHT
                 << ", count: " << right_count_ << ", frame_id: "
@@ -538,12 +528,14 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     header.seq = seq;
     header.stamp = stamp;
     header.frame_id = frame_ids_[stream];
+    pthread_mutex_lock(&mutex_data_);
     cv::Mat img = data.frame;
     if (stream == Stream::DISPARITY) {  // 32FC1 > 8UC1 = MONO8
       img.convertTo(img, CV_8UC1);
     }
     auto &&msg =
         cv_bridge::CvImage(header, camera_encodings_[stream], img).toImageMsg();
+    pthread_mutex_unlock(&mutex_data_);
     auto &&info = getCameraInfo(stream);
     info->header.stamp = msg->header.stamp;
     camera_publishers_[stream].publish(msg, info);
@@ -978,7 +970,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   ros::NodeHandle nh_;
   ros::NodeHandle private_nh_;
 
-  pthread_mutex_t mutex_data;
+  pthread_mutex_t mutex_data_;
 
   // camera:
   //   LEFT, RIGHT, LEFT_RECTIFIED, RIGHT_RECTIFIED,