Slam using LIO-SLAM

[federista]

I am using velodyne VLP-16 and IMU from xsense. I am able to visualize pointclouds(Single frames) on rviz but cant create a slam. Kindly guide me if i am missing on something. Have configured the params.yaml according to my custom rostopics.
I am not using a bag file but directly from sensor. Below are some screen shots attached for reference.
Need guidance about the required process for creating a slam