iv been experimenting with cartographer slam for some time now without imu, the results have been great but I noticed sometimes the map breaks and submap gets built over itself.

I have decided to include an imu (sparkfun mpu9250), connected to an arduinomega and information is sent/recieved over rossserial. In lua config I set, Trackingframe = "imulink" for my imu and use imu_data= true. now i notice that the map spins completely out of control continuously. i am thinking this is possibly a problem from the Imu jittering? or perhaps my orientation setup is wrong?

Please see my video, launch file, lua and urdf for reference https://drive.google.com/open?id=1uy8CA2ECMbhQEi2r7MVYDU0aRAiUfDUs Thank you