How to implement cartographer "real pure location" ?

[xuguan...@gmail.com]

Hi all, cartographer have the "pure location" node ,but  it still have the mapping and  pose graph;

What I  want to do is simpler: I just want to load an existed map and do  globle loction and continuous location without maping and pose graph.

So far ,I do not figure out how to implment this , please help...