RTABMap quickly confused during robot simulation

<img width="1096" height="933" alt="Image" src="https://github.com/user-attachments/assets/b4e73ff1-101b-4e80-881d-e7be819541fa" />

See above image. This happens relatively quickly, where RTAB begins to lose where it is. My hunch is that this is some issue with the IMU being misaligned with what RTAB expects, but I'm unsure.