diff --git a/cartographer_ros/configuration_files/backpack_2d.lua b/cartographer_ros/configuration_files/backpack_2d.lua
index df48824..9bbbe8c 100644
--- a/cartographer_ros/configuration_files/backpack_2d.lua
+++ b/cartographer_ros/configuration_files/backpack_2d.lua
@@ -21,6 +21,9 @@ options = {
   odom_frame = "odom",
   provide_odom_frame = true,
   use_odometry_data = false,
+  use_constant_odometry_variance = false,
+  constant_odometry_translational_variance = 0.,
+  constant_odometry_rotational_variance = 0.,
   publish_occupancy_grid = false,
   use_horizontal_laser = false,
   use_horizontal_multi_echo_laser = true,
diff --git a/cartographer_ros/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua
index 3eaf22c..9d7e644 100644
--- a/cartographer_ros/configuration_files/backpack_3d.lua
+++ b/cartographer_ros/configuration_files/backpack_3d.lua
@@ -21,6 +21,9 @@ options = {
   odom_frame = "odom",
   provide_odom_frame = true,
   use_odometry_data = false,
+  use_constant_odometry_variance = false,
+  constant_odometry_translational_variance = 0.,
+  constant_odometry_rotational_variance = 0.,
   publish_occupancy_grid = false,
   use_horizontal_laser = false,
   use_horizontal_multi_echo_laser = false,
diff --git a/cartographer_ros/src/cartographer_node_main.cc b/cartographer_ros/src/cartographer_node_main.cc
index e3f0750..e68d361 100644
--- a/cartographer_ros/src/cartographer_node_main.cc
+++ b/cartographer_ros/src/cartographer_node_main.cc
@@ -108,6 +108,9 @@ struct NodeOptions {
   bool publish_occupancy_grid;
   bool provide_odom_frame;
   bool use_odometry_data;
+  bool use_constant_odometry_variance;
+  double constant_odometry_translational_variance;
+  double constant_odometry_rotational_variance;
   bool use_horizontal_laser;
   bool use_horizontal_multi_echo_laser;
   double horizontal_laser_min_range;
@@ -134,6 +137,12 @@ NodeOptions CreateNodeOptions(
       lua_parameter_dictionary->GetBool("provide_odom_frame");
   options.use_odometry_data =
       lua_parameter_dictionary->GetBool("use_odometry_data");
+  options.use_constant_odometry_variance =
+      lua_parameter_dictionary->GetBool("use_constant_odometry_variance");
+  options.constant_odometry_translational_variance =
+      lua_parameter_dictionary->GetDouble("constant_odometry_translational_variance");
+  options.constant_odometry_rotational_variance =
+      lua_parameter_dictionary->GetDouble("constant_odometry_rotational_variance");
   options.use_horizontal_laser =
       lua_parameter_dictionary->GetBool("use_horizontal_laser");
   options.use_horizontal_multi_echo_laser =
@@ -277,8 +286,20 @@ Rigid3d Node::LookupToTrackingTransformOrThrow(const carto::common::Time time,
 void Node::AddOdometry(int64 timestamp, const string& frame_id,
                        const Rigid3d& pose, const PoseCovariance& covariance) {
   const carto::common::Time time = carto::common::FromUniversal(timestamp);
+  PoseCovariance applied_covariance = covariance;
+  if (options_.use_constant_odometry_variance) {
+    const Eigen::Matrix3d translational =
+        Eigen::Matrix3d::Identity() *
+        options_.constant_odometry_translational_variance;
+    const Eigen::Matrix3d rotational =
+        Eigen::Matrix3d::Identity() *
+        options_.constant_odometry_rotational_variance;
+    applied_covariance <<  //
+        translational, Eigen::Matrix3d::Zero(),  //
+        Eigen::Matrix3d::Zero(), rotational;
+  }
   map_builder_.GetTrajectoryBuilder(kTrajectoryBuilderId)
-      ->AddOdometerPose(time, pose, covariance);
+      ->AddOdometerPose(time, pose, applied_covariance);
 }
 
 void Node::AddImu(const int64 timestamp, const string& frame_id,