tf doens't move in rviz

edit

Hi!

i used an ouster os1 sensor and i tried with the configurations described here :

https://ouster.com/blog/building-maps...

I collected data from the road ( with imu ), but the sensor transform doesn't move and i have a strange output in rviz:

and the cartographer_rosbag_validate output is:

E0823 01:46:06.032128  1011 rosbag_validate_main.cc:350] frame_id "os1_imu" on topic /os1_cloud_node/imu has serialization time 1597567162.948297684 but sensor time 248.835792070 differing by -1.59757e+09 s.
E0823 01:46:06.032496  1011 rosbag_validate_main.cc:350] frame_id "os1_imu" on topic /os1_cloud_node/imu has serialization time 1597567162.958126644 but sensor time 248.845792220 differing by -1.59757e+09 s.
E0823 01:46:06.032562  1011 rosbag_validate_main.cc:350] frame_id "os1_imu" on topic /os1_cloud_node/imu has serialization time 1597567162.968158976 but sensor time 248.855791830 differing by -1.59757e+09 s.
I0823 01:50:09.712486  1011 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/os1_cloud_node/imu" (frame_id: "os1_imu"):
Count: 79850  Min: 0.010000  Max: 0.020000  Mean: 0.010039
[0.010000, 0.011000)    ####################    Count: 79584 (99.666878%)   Total: 79584 (99.666878%)
[0.011000, 0.012000)                            Count: 0 (0.000000%)    Total: 79584 (99.666878%)
[0.012000, 0.013000)                            Count: 0 (0.000000%)    Total: 79584 (99.666878%)
[0.013000, 0.014000)                            Count: 0 (0.000000%)    Total: 79584 (99.666878%)
[0.014000, 0.015000)                            Count: 0 (0.000000%)    Total: 79584 (99.666878%)
[0.015000, 0.016000)                            Count: 0 (0.000000%)    Total: 79584 (99.666878%)
[0.016000, 0.017000)                            Count: 0 (0.000000%)    Total: 79584 (99.666878%)
[0.017000, 0.018000)                            Count: 0 (0.000000%)    Total: 79584 (99.666878%)
[0.018000, 0.019000)                            Count: 0 (0.000000%)    Total: 79584 (99.666878%)
[0.019000, 0.020000]                            Count: 266 (0.333125%)  Total: 79850 (100.000000%)
E0823 01:50:09.713305  1011 rosbag_validate_main.cc:382] Point data (frame_id: "os1_lidar") has a large gap, largest is 1.38426 s, recommended is [0.0005, 0.05] s with no jitter.
I0823 01:50:09.746733  1011 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/os1_cloud_node/points" (frame_id: "os1_lidar"):
Count: 15906  Min: 0.003121  Max: 1.384260  Mean: 0.050363
[0.003121, 0.141235)    ####################    Count: 15895 (99.930847%)   Total: 15895 (99.930847%)
[0.141235, 0.279349)                            Count: 3 (0.018861%)    Total: 15898 (99.949707%)
[0.279349, 0.417463)                            Count: 2 (0.012574%)    Total: 15900 (99.962280%)
[0.417463, 0.555577)                            Count: 0 (0.000000%)    Total: 15900 (99.962280%)
[0.555577, 0.693691)                            Count: 3 (0.018861%)    Total: 15903 (99.981140%)
[0.693691, 0.831804)                            Count: 0 (0.000000%)    Total: 15903 (99.981140%)
[0.831804, 0.969918)                            Count: 0 (0.000000%)    Total: 15903 (99.981140%)
[0.969918, 1.108032)                            Count: 1 (0.006287%)    Total: 15904 (99.987427%)
[1.108032, 1.246146)                            Count: 1 (0.006287%)    Total: 15905 (99.993713%)
[1.246146, 1.384260]                            Count: 1 (0.006287%)    Total: 15906 (100.000000%)

urdf file :

<robot name="os1_sensor">

  <material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
  </material>
  <material ...