Bug report

After using cartographer to build the map normally, run NAV2 bringup_launch and wait for 5 minutes. The single-line lidar point cloud obviously does not match the map. What may be the reason for this?

• Operating System:
  Ubuntu22.04
• ROS2 Version:
  Humble

Steps to reproduce issue

ros2 launch cartographer_ros cartographer.launch.py
ros2 launch my sensors (include imu,odom and  single-line lidar)
ros2 launch nav2_bringup bringup_launch.py map:=my_map.yaml open_rviz:=true

Expected behavior

LiDAR point cloud will not shift when stationary

Actual behavior

Additional information

If more information is needed, I can add it right away. Please can you help me analyze the reason?