Google Cartographer Map Closure Detection

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Hi,

I've used GC in the past purely linked up in place of the likes of gmapping. Then simply driven the robot around, manually, to build the map then used what was recorded for navigation. All works fine 100% of the time (well more or less :))

I want to upgrade this functionality so that I can leave the robot to drive itself around and GC give some indication when loop-closure occurs and therefore know when the map is complete.

Is there such a topic published from GC (not seen one as yet)? Has anyone done this? Or should I be looking at something else?

Thanks

Mark