diff --git a/cartographer_ros/cartographer_ros/bag_reader.cc b/cartographer_ros/cartographer_ros/bag_reader.cc
index 6bc26af..9097c3a 100644
--- a/cartographer_ros/cartographer_ros/bag_reader.cc
+++ b/cartographer_ros/cartographer_ros/bag_reader.cc
@@ -52,9 +52,9 @@ std::unique_ptr<tf2_ros::Buffer> ReadTransformsFromBag(
         }
       }
     }
-    LOG_EVERY_N(INFO, 100000) << "Processed "
-                              << (msg.getTime() - begin_time).toSec() << " of "
-                              << duration_in_seconds << " bag time seconds...";
+    LOG_EVERY_N(INFO, 100000)
+        << "Processed " << (msg.getTime() - begin_time).toSec() << " of "
+        << duration_in_seconds << " bag time seconds...";
   }
 
   bag.close();
diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index 71a24c9..68b638e 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -39,7 +39,7 @@ namespace {
 
 constexpr int kInfiniteSubscriberQueueSize = 0;
 
-void Run() {
+NodeOptions LoadOptions() {
   auto file_resolver = cartographer::common::make_unique<
       cartographer::common::ConfigurationFileResolver>(
       std::vector<string>{FLAGS_configuration_directory});
@@ -48,7 +48,11 @@ void Run() {
   cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
       code, std::move(file_resolver));
 
-  const auto options = CreateNodeOptions(&lua_parameter_dictionary);
+  return CreateNodeOptions(&lua_parameter_dictionary);
+}
+
+void Run() {
+  const auto options = LoadOptions();
   constexpr double kTfBufferCacheTimeInSeconds = 1e6;
   tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
   tf2_ros::TransformListener tf(tf_buffer);
diff --git a/cartographer_ros/cartographer_ros/offline_node_main.cc b/cartographer_ros/cartographer_ros/offline_node_main.cc
index b21aef7..349e73f 100644
--- a/cartographer_ros/cartographer_ros/offline_node_main.cc
+++ b/cartographer_ros/cartographer_ros/offline_node_main.cc
@@ -67,7 +67,7 @@ std::vector<string> SplitString(const string& input, const char delimiter) {
   return tokens;
 }
 
-void Run(std::vector<string> bag_filenames) {
+NodeOptions LoadOptions() {
   auto file_resolver = cartographer::common::make_unique<
       cartographer::common::ConfigurationFileResolver>(
       std::vector<string>{FLAGS_configuration_directory});
@@ -76,6 +76,12 @@ void Run(std::vector<string> bag_filenames) {
   cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
       code, std::move(file_resolver));
 
+  return CreateNodeOptions(&lua_parameter_dictionary);
+}
+
+void Run(const std::vector<string>& bag_filenames) {
+  auto options = LoadOptions();
+
   auto tf_buffer = ::cartographer::common::make_unique<tf2_ros::Buffer>();
   if (!FLAGS_urdf_filename.empty()) {
     ReadStaticTransformsFromUrdf(FLAGS_urdf_filename, tf_buffer.get());
@@ -87,7 +93,6 @@ void Run(std::vector<string> bag_filenames) {
   }
   tf_buffer->setUsingDedicatedThread(true);
 
-  auto options = CreateNodeOptions(&lua_parameter_dictionary);
   // Since we preload the transform buffer, we should never have to wait for a
   // transform. When we finish processing the bag, we will simply drop any
   // remaining sensor data that cannot be transformed due to missing transforms.