Incorrect Results from the LiDAR

[Shaswat2001]

Hi, I am using Seyond Robin LiDAR on quadruped robot to create the map. However, the map created is not correct. The robot rotates at two points by 90 degrees, however, the behavior is not visible in the map created in GLIM.

I am running the odometry and other mapping config files in CPU with 8GB RAM.

The bag files are in the drive link -

https://drive.google.com/drive/folders/1BORS3uWo23YN4B_Gr0NcbrOPOE3zm1Nd?usp=sharing

Its in ROS2 Humble with Ubuntu 22.04. Can anyone please guide what the issue is? Is the compute of my laptop or there is noise in the IMU data that is causing this.

[koide3]

It seems there is a contamination of IMU data from different frames that may be affecting the mapping.