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Hi Iman,

Looks like there is a version of open_karto that is inside the nav2d package on the ROS wiki:

http://wiki.ros.org/nav2d

Open karto is the underlying graph slam library used by slam_karto to do the scan matching and loop closure.

I would recommend looking in the source code here: https://github.com/skasperski/navigation_2d/tree/master/nav2d_karto for an idea of how to pipe out the loop closure detection when running nav2d_karto.

Hopefully this helps you out!

Luc