hello，now i use imu (jy901) and rplidar to build 2d_map, and no odomtry data , i have edit urdf file and set the lua file like blow, but get bad result:

when i keep imu,laser,and base_link still, get the result below: https://github.com/duandongbin000/mySlam/blob/master/Screenshot%20from%202019-01-0802-46-42.png

when i move imu,laser,and base_link , get the result below: https://github.com/duandongbin000/mySlam/blob/master/Screenshot%20from%202019-01-0802-49-46.png

and this is my confi file: https://github.com/duandongbin000/mySlam/blob/master/imu.launch

https://github.com/duandongbin000/mySlam/blob/master/rplidar.launch

https://github.com/duandongbin000/mySlam/blob/master/rplidar_2d.urdf

https://github.com/duandongbin000/mySlam/blob/master/rplidar_slam.launch

https://github.com/duandongbin000/mySlam/blob/master/rplidar_slam.lua

bagfile:: https://drive.google.com/open?id=10jbbFi4MeFGkD2MgiQGWulDDj_M8vtoz

pi@NanoPi-M4:~/catkin_ws$ cartographer_rosbag_validate -bag_filename /home/pi/bagfile/2019-01-10-02-21-49.bag
E0110 05:41:42.833030  1459 rosbag_validate_main.cc:131] Input contains transform message from frame_id "map" to child_frame_id "base_link". This is almost always output published by cartographer and should not appear as input. (Unless you have some complex remove_frames configuration, this is will not work. Simplest solution is to record input without cartographer running.)
W0110 05:41:42.835559  1459 rosbag_validate_main.cc:103] frame_id imu_link time 1547086910329098627: IMU linear acceleration is 0.906778 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration 000.0078125 -0.00341797 0000.906738
W0110 05:41:42.836872  1459 rosbag_validate_main.cc:103] frame_id imu_link time 1547086910363351228: IMU linear acceleration is 1.02101 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration -0.0175781 00.0415039 0001.02002
W0110 05:41:42.837472  1459 rosbag_validate_main.cc:103] frame_id imu_link time 1547086910403365582: IMU linear acceleration is 0.974981 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration -0.0209961 00.0351562 000.974121
W0110 05:41:42.851753  1459 rosbag_validate_main.cc:352] frame_id "map" on topic /scan_matched_points2 has serialization time 1547086912.193658190 but sensor time 1547086912.092375100 differing by -0.101283 s.
E0110 05:41:44.577162  1459 rosbag_validate_main.cc:365] Average IMU linear acceleration is 0.995768 m/s^2, expected is [9.5, 10.5] m/s^2. Linear acceleration data should include gravity and be given in m/s^2.
E0110 05:41:44.578286  1459 rosbag_validate_main.cc:389] IMU data (frame_id: "imu_link") has a large gap, largest is 0.109802 s, recommended is [0.0005, 0.005] s with no jitter.
I0110 05:41:44.578856  1459 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/imu" (frame_id: "imu_link"):
Count: 2846  Min: 0.000053  Max: 0.109802  Mean: 0.046448
[0.000053, 0.011028)                            Count: 2 (0.070274%)    Total: 2 (0.070274%)
[0.011028, 0.022003)                            Count: 6 (0.210822%)    Total: 8 (0.281096%)
[0.022003, 0.032978)                     ###    Count: 382 (13.422347%) Total: 390 (13.703444%)
[0.032978, 0.043952)              ##########    Count: 1446 (50.808151%)    Total: 1836 (64.511597%)
[0.043952, 0.054927)                            Count: 66 (2.319044%)   Total: 1902 (66.830643%)
[0.054927, 0.065902)                    ####    Count: 559 (19.641602%) Total: 2461 (86.472244%)
[0.065902, 0.076877)                     ###    Count: 376 (13.211525%) Total: 2837 (99.683769%)
[0.076877, 0.087852)                            Count: 7 (0.245959%)    Total: 2844 (99.929726%)
[0.087852, 0.098827)                            Count: 0 (0.000000%)    Total: 2844 (99.929726%)
[0.098827, 0.109802]                            Count: 2 (0.070274%)    Total: 2846 (100.000000%)
E0110 05:41:44.579696  1459 rosbag_validate_main.cc:382] Point data (frame_id: "laser_link") has a large gap, largest is 0.162345 s, recommended is [0.0005, 0.05] s with no jitter.
I0110 05:41:44.579974  1459 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/scan" (frame_id: "laser_link"):
Count: 1739  Min: 0.048163  Max: 0.162345  Mean: 0.076037
[0.048163, 0.059582)                            Count: 6 (0.345026%)    Total: 6 (0.345026%)
[0.059582, 0.071000)                      ##    Count: 167 (9.603220%)  Total: 173 (9.948246%)
[0.071000, 0.082418)            ############    Count: 1039 (59.746983%)    Total: 1212 (69.695229%)
[0.082418, 0.093836)                  ######    Count: 518 (29.787233%) Total: 1730 (99.482460%)
[0.093836, 0.105254)                            Count: 6 (0.345026%)    Total: 1736 (99.827484%)
[0.105254, 0.116673)                            Count: 1 (0.057504%)    Total: 1737 (99.884995%)
[0.116673, 0.128091)                            Count: 0 (0.000000%)    Total: 1737 (99.884995%)
[0.128091, 0.139509)                            Count: 0 (0.000000%)    Total: 1737 (99.884995%)
[0.139509, 0.150927)                            Count: 0 (0.000000%)    Total: 1737 (99.884995%)
[0.150927, 0.162345]                            Count: 2 (0.115009%)    Total: 1739 (100.000000%)
E0110 05:41:44.580665  1459 rosbag_validate_main.cc:382] Point data (frame_id: "map") has a large gap, largest is 0.228151 s, recommended is [0.0005, 0.05] s with no jitter.
I0110 05:41:44.580884  1459 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/scan_matched_points2" (frame_id: "map"):
Count: 870  Min: 0.130426  Max: 0.228151  Mean: 0.152068
[0.130426, 0.140198)                            Count: 8 (0.919540%)    Total: 8 (0.919540%)
[0.140198, 0.149971)                 #######    Count: 299 (34.367817%) Total: 307 (35.287357%)
[0.149971, 0.159743)            ############    Count: 540 (62.068966%) Total: 847 (97.356323%)
[0.159743, 0.169516)                            Count: 19 (2.183908%)   Total: 866 (99.540230%)
[0.169516, 0.179289)                            Count: 2 (0.229885%)    Total: 868 (99.770119%)
[0.179289, 0.189061)                            Count: 0 (0.000000%)    Total: 868 (99.770119%)
[0.189061, 0.198834)                            Count: 0 (0.000000%)    Total: 868 (99.770119%)
[0.198834, 0.208606)                            Count: 0 (0.000000%)    Total: 868 (99.770119%)
[0.208606, 0.218379)                            Count: 0 (0.000000%)    Total: 868 (99.770119%)
[0.218379, 0.228151]                            Count: 2 (0.229885%)    Total: 870 (100.000000%)

why the scan frame cannot be transformed to submap frame? what's wrong? anyone some help?????