Mapping Only Mode

[MaxWinklh2908]

Is there a way or paramter to disable position correction and fully rely on the odometry pose. The question arises as we use odometry and LiDAR as Input where the odometry is often incorrect in orientation. However cartographer also destroys the position as it causes the robot to jump around (probably due to point cloud Matching)

[eithwa]

I think maybe some of your settings are not correct, I can check them for you if you provide your bag and configure files