Map merging misalignment when run multiple times in a single session

[Pallav1299]

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • source
• ROS Version
  • ROS1
• Version or commit hash:
  • https://github.com/SteveMacenski/slam_toolbox/tree/noetic-devel
• Laser unit:
  • Hokuyo UTM-30LX laser scanner

Steps to reproduce issue

I am trying to use the map_merging feature by creating two maps from a single rosbag. Afterwards I add these submaps upon launching the map_merge_kinematic node. The manual alignment isn't affecting the merged map.

Expected behavior

Map with aligned submaps.

Actual behavior

Map with misaligned submaps.

Additional information

Seems like the alignment data is being lost and the default pose is being used for merging submaps.

Not sure if I am doing something wrong. Please suggest if so.

Maps: submaps.zip

Screenshots: submap_1:

submap_2:

manually_aligned submaps:

merged submaps: