How to turn off the Ceres scan matcher in Local SLAM?

[Leo6069]

Hi there,

I am working on turtlebot3 ROS with Cartographer SLAM.

Now I have ground-truth odometry from a Gazebo plugin, and I know that I can disable Global SLAM by setting the POSE_GRAPH.optimize_every_n_nodes = 0.

Now I want to turn off the Local SLAM, which means I want to make use of the odometry and scans only to make a map, and do not want the Ceres scan matcher to estimate the robot pose based on scans.

I try to set these two parameters as 0 but it will in Rviz the robot will not move anymore. TRAJECTORY_BUILDER_nD.ceres_scan_matcher.translation_weight TRAJECTORY_BUILDER_nD.ceres_scan_matcher.rotation_weight

Could you please tell me how to turn off the Ceres scan matcher? Thanks in advance.

Cheers Leo