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Not sure how to make cartographer make use of a simple 2D map as you describe. You usually have .pbstream file generated that you can load using:

<node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args="-load_state_filename $MAP_NAME.pbstream" />

Thereafter you retune it as seen in the documentation

E.g.

TRAJECTORY_BUILDER.pure_localization = true

Not sure how to make cartographer make use of a simple 2D map as you describe. You usually have .pbstream file generated that you can load using:

<node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args="-load_state_filename $MAP_NAME.pbstream" />

Thereafter you retune it as seen in the documentation

E.g.

TRAJECTORY_BUILDER.pure_localization = true