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Did you properly setup the system so LIDAR data is transformed using data coming from the IMU?
Of course, if there are not enough features of the environment visible in LIDAR data (which can happen due to using a low range LIDAR and/or operating in a wide open environment), there is not much one can do about that.
Some more data about the environment you're operating in and the sensors you're using (most importantly, which LIDAR) would help in estimating the chances of making things work ;)
Again, as shown in a recent video things work pretty well for us in a scenario/setup that sounds vaguely similar to yours (roll/pitch ramps, LIDAR, 3D (octo)map built from Kinect data).
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