3D cartographer build map error

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Hi, I am running 3D cartographer with a 16-lines LIDAR and a IMU. I have been running it without error. But the model's track is different from the real movement.

I0316 23:12:28.895218  7292 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/IMU" (frame_id: "imu"):
Count: 18056  Min: 0.004353  Max: 0.013893  Mean: 0.010000
[0.004353, 0.005307)                            Count: 1 (0.005538%)    Total: 1 (0.005538%)
[0.005307, 0.006261)                            Count: 0 (0.000000%)    Total: 1 (0.005538%)
[0.006261, 0.007215)                            Count: 0 (0.000000%)    Total: 1 (0.005538%)
[0.007215, 0.008169)                            Count: 281 (1.556269%)  Total: 282 (1.561808%)
[0.008169, 0.009123)                            Count: 73 (0.404298%)   Total: 355 (1.966105%)
[0.009123, 0.010077)     ###################    Count: 17197 (95.242577%)   Total: 17552 (97.208687%)
[0.010077, 0.011031)                            Count: 151 (0.836287%)  Total: 17703 (98.044968%)
[0.011031, 0.011985)                            Count: 266 (1.473194%)  Total: 17969 (99.518166%)
[0.011985, 0.012939)                            Count: 86 (0.476296%)   Total: 18055 (99.994461%)
[0.012939, 0.013893]                            Count: 1 (0.005538%)    Total: 18056 (100.000000%)
E0316 23:12:28.896271  7292 rosbag_validate_main.cc:382] Point data (frame_id: "rslidar") has a large gap, largest is 0.101069 s, recommended is [0.0005, 0.05] s with no jitter.
I0316 23:12:28.896566  7292 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/rslidar_points" (frame_id: "rslidar"):
Count: 1791  Min: 0.100548  Max: 0.101069  Mean: 0.100801
[0.100548, 0.100600)                            Count: 10 (0.558347%)   Total: 10 (0.558347%)
[0.100600, 0.100652)                            Count: 7 (0.390843%)    Total: 17 (0.949190%)
[0.100652, 0.100704)                            Count: 10 (0.558347%)   Total: 27 (1.507538%)
[0.100704, 0.100756)                       #    Count: 51 (2.847571%)   Total: 78 (4.355109%)
[0.100756, 0.100809)           #############    Count: 1190 (66.443329%)    Total: 1268 (70.798439%)
[0.100809, 0.100861)                   #####    Count: 478 (26.689001%) Total: 1746 (97.487434%)
[0.100861, 0.100913)                            Count: 21 (1.172529%)   Total: 1767 (98.659966%)
[0.100913, 0.100965)                            Count: 10 (0.558347%)   Total: 1777 (99.218315%)
[0.100965, 0.101017)                            Count: 9 (0.502513%)    Total: 1786 (99.720825%)
[0.101017, 0.101069]                            Count: 5 (0.279174%)    Total: 1791 (100.000000%)

I checked my urdf file, but I did not find the problem(may be I didn't find out). Any suggestions would be appreciated.