Question about Using GT Pose for Mapping Only

[KuangHaofei]

Hi authors,

Thanks for your great work!

I am working with Khronos, but I only need the mapping functionality instead of the full SLAM pipeline. Since the algorithm is a SLAM system, I would like to use GT pose and disable loop closure and back-end optimization in my scenarios.

So, I have two questions:

• Can I achieve this by simply setting use_gt_frame to true in the launch file?
• Do I need to modify any additional parameters in the config files to fully disable loop closure and optimization?

Any guidance would be greatly appreciated. Thank you!