I wanted to test the Localization of the robot comparing AMCL output of navigation 2 with the output of the ground truth given by gazebo. The problem is that this data are not on the same frame, when I created the map slam toolbox defined the map frame to be at a certain position that is not the same as Gazebo origin. so ground truth information published by Gazebo is given with respect to gazebo's origin and amcl information given by the topic /amcl_pose is given with respect to the map origin. If I knew the position of the frames wiith respect to each other I could use coordinate transformation to solve the problem but I don't know how to get that info in gazebo.