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As Luc pointed out, the LoopClosing is done internally by OpenKarto. It is done automatically, so you should see closures happen while you build a map with your robot. I suggest to turn on the graph visualization in RVIZ, so you see when a loop edge is added to the underlying graph. The nav2d package does not expose this function to the outside, so the only way to change the loop closing behavior is by changing OpenKarto's parameters. These are all exposed by nav2d and can be changed via the ROS parameter server.

You can find all available parameters in the OpenKarto source code:

https://github.com/skasperski/navigation_2d/blob/master/nav2d_karto/OpenKarto/source/OpenKarto/OpenMapper.h#L1389