Large velocity, reset IMU-PreIntegration on Go1 Unitree with Lidar RS16

[giuseppecialdella]

Hello everyone, I'm using LIO-SAM on a Go1 robot dog from Unitree and a RS16 Lidar. When I launch roslaunch start build_map.launch map_name:=my_map_name it gives me this warning "Large velocity, reset IMU-PreIntegration" and this error "Scan Matching Failed, using odometry". When I launch rviz the map is continuously rotating and the odom frame is upside down respect to the other tf frames. I am struggling to find a solution. I think this is related to the extrinsics in params.yaml but I'm not sure. Are you able to help me? Thanks!!