How to extract ONLY odometry from cartographer?

[maker-ATOM]

• What I am trying to achieve?
  I have a differential drive robot with YDLiDAR X4 on it. I want the robot to produce Odometry data only using LiDAR sensor with the help of Cartographer. Ultimately a odom => base_link transform should be broadcasted by cartographer, publishing on /odom topic is not necessary.

• What I have done so far?
  With reference to the documentation at https://google-cartographer-ros.readthedocs.io/en/latest/ros_api.html#provided-tf-transforms

the section mentions,

cartographer provides two frames map_frame => published_frame which are map and base_link in my case respectively. Other frame broadcasted is odom_frame => published_frame, where odom_frame is odom in my case.

From what I have inferred is to get odometry the parameter provide_odom_frame should be set to true, but there is no mention about how to turn of the map => odom frame. So I tried setting publish_to_tf to false.

So the .lua file looks something like this,

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  publish_to_tf = false,
  provide_odom_frame = true,
  publish_frame_projected_to_2d = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.05
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)
-- for current lidar only 1 is good value
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35

return options

With these setting NO transform is being published by cartographer neither map => odom nor odom => base_link.

I also tried doing some iterations,
the results are below, other params are unchanged,
for

  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  publish_to_tf = false,
  provide_odom_frame = true,
  publish_frame_projected_to_2d = true,

for,

  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  publish_to_tf = true,
  provide_odom_frame = true,
  publish_frame_projected_to_2d = true,

So how do you get cartographer broadcast only odom => base_link transform?