Hello

I would like to measure a parameter that gives me the travel distance of the robot. My platform has encoders , laser, IMU and Kinect. I can use the Map from Hector mappping and some localization lake amcl od Hector Slam. So I wont to know the my robot traveled 10 m forwards in straight direction (not doing zic zac movement). And also I wont to know the time he needed for that task. Any help??

Thanks