diff --git a/samples/tutorials/CMakeLists.txt b/samples/tutorials/CMakeLists.txt
index 992c157..8e1eefa 100644
--- a/samples/tutorials/CMakeLists.txt
+++ b/samples/tutorials/CMakeLists.txt
@@ -127,10 +127,6 @@ make_executable2(ctrl_manual_exposure
   WITH_OPENCV
 )
 
-# intermediate level
-
-make_executable2(get_all_device_info SRCS intermediate/get_all_device_info.cc WITH_OPENCV)
-
 if(PCL_FOUND)
 
 if(OpenCV_VERSION VERSION_LESS 4.0)
diff --git a/samples/tutorials/intermediate/get_all_device_info.cc b/samples/tutorials/intermediate/get_all_device_info.cc
deleted file mode 100644
index 1c335f7..0000000
--- a/samples/tutorials/intermediate/get_all_device_info.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-// Copyright 2018 Slightech Co., Ltd. All rights reserved.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include "mynteye/logger.h"
-#include "mynteye/device/context.h"
-#include "mynteye/device/device.h"
-
-MYNTEYE_USE_NAMESPACE
-
-int main(int argc, char *argv[]) {
-  glog_init _(argc, argv);
-
-  LOG(INFO) << "Detecting MYNT EYE devices";
-  Context context;
-  auto &&devices = context.devices();
-
-  size_t n = devices.size();
-  if (n <= 0) {
-    LOG(ERROR) << "No MYNT EYE devices :(";
-    return 1;
-  }
-
-  for (size_t i = 0; i < n; i++) {
-    auto &&device = devices[i];
-    LOG(INFO) << "MYNT EYE device index: " << i;
-    LOG(INFO) << "  Device name: " << device->GetInfo(Info::DEVICE_NAME);
-    LOG(INFO) << "  Serial number: " << device->GetInfo(Info::SERIAL_NUMBER);
-    LOG(INFO) << "  Firmware version: "
-              << device->GetInfo(Info::FIRMWARE_VERSION);
-    LOG(INFO) << "  Hardware version: "
-              << device->GetInfo(Info::HARDWARE_VERSION);
-    LOG(INFO) << "  Spec version: " << device->GetInfo(Info::SPEC_VERSION);
-    LOG(INFO) << "  Lens type: " << device->GetInfo(Info::LENS_TYPE);
-    LOG(INFO) << "  IMU type: " << device->GetInfo(Info::IMU_TYPE);
-    LOG(INFO) << "  Nominal baseline: "
-              << device->GetInfo(Info::NOMINAL_BASELINE);
-  }
-
-  return 0;
-}
diff --git a/tools/analytics/stamp_analytics.py b/tools/analytics/stamp_analytics.py
index 2aa93d0..b36d3fb 100644
--- a/tools/analytics/stamp_analytics.py
+++ b/tools/analytics/stamp_analytics.py
@@ -15,7 +15,6 @@
 # limitations under the License.
 
 # pylint: disable=missing-docstring
-
 from __future__ import print_function
 
 import os
@@ -27,7 +26,6 @@ sys.path.append(os.path.join(TOOLBOX_DIR, 'internal'))
 # pylint: disable=import-error,wrong-import-position
 from data import ROSBag, MYNTEYE, What
 
-
 ANGLE_DEGREES = 'd'
 ANGLE_RADIANS = 'r'
 ANGLE_UNITS = (ANGLE_DEGREES, ANGLE_RADIANS)
@@ -38,6 +36,11 @@ BIN_IMU_NAME = 'stamp_analytics_imu.bin'
 RESULT_FIGURE = 'stamp_analytics.png'
 
 
+IMU_ALL = 0
+IMU_ACCEL = 1
+IMU_GYRO = 2
+
+
 class BinDataset(object):
 
   def __init__(self, path, dataset_creator):
@@ -147,9 +150,9 @@ class BinDataset(object):
     imgs_t_diff = np.diff(imgs['t'])
     # imus_t_diff = np.diff(imus['t'])
 
-    accel = imus[imus['flag'] == 1]
+    accel = imus[(imus['flag'] == IMU_ALL) | (imus['flag'] == IMU_ACCEL)]
     accel_t_diff = np.diff(accel['t'])
-    gyro = imus[imus['flag'] == 2]
+    gyro = imus[(imus['flag'] == IMU_ALL) | (imus['flag'] == IMU_GYRO)]
     gyro_t_diff = np.diff(gyro['t'])
 
     print('\ncount')
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 b9d7102..9eae936 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
@@ -72,14 +72,20 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                   << (right_count_ / compute_time(time_end, right_time_beg_));
       }
       if (imu_time_beg_ != -1) {
-        if (publish_imu_by_sync_) {
-          LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
-                    << (imu_sync_count_ /
-                    compute_time(time_end, imu_time_beg_));
-        } else {
-          LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
-                    << (imu_count_ /
-                    compute_time(time_end, imu_time_beg_));
+          if (model_ == Model::STANDARD) {
+            LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
+                      << (imu_count_ /
+                      compute_time(time_end, imu_time_beg_));
+          } else {
+          if (publish_imu_by_sync_) {
+            LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
+                      << (imu_sync_count_ /
+                      compute_time(time_end, imu_time_beg_));
+          } else {
+            LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
+                      << (imu_count_ /
+                      compute_time(time_end, imu_time_beg_));
+          }
         }
       }
 
@@ -1327,7 +1333,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   std::size_t imu_sync_count_ = 0;
   std::shared_ptr<ImuData> imu_accel_;
   std::shared_ptr<ImuData> imu_gyro_;
-  bool publish_imu_by_sync_ = false;
+  bool publish_imu_by_sync_ = true;
   std::map<Stream, bool> is_published_;
   bool is_motion_published_;
   bool is_started_;