The odom not doing a 180 turn in the MAP

[Shaswat2001]

Hi,

I have 3D LiDAR attached to quadruped robot and I am trying to map the area. It works fine, however, at one point the robot does a 180 rotation. However the same doesn't happen in the GLIM mapping.

The bag file is -
https://drive.google.com/file/d/1clQcwdLaXHNyh1OPMDyA9Kzy9kWLiHpp/view?usp=sharing

I am not sure, whats causing the issue. Because the orientation from the IMU shows the 180 rotation. But the same is not seen in the map created. IS there a way to integrate orientation data into the SLAM?