map is shifting during recording

[reinbja]

Hello, I use rtabmap in combination with a 3D LiDAR and have the problem that my map somehow shifts during recording when I move back and forth in a closed lane or, for example, along a corridor. Could this be a problem of the rtabmap setup?

[matlabbe]

Could you record a rosbag of the scans that can reproduce the issue? Is it a shift along the corridor direction or perpendicular to it?