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You should be able to find a number of bagfiles floating around with recorded laser + odometry. A few examples:

I have posted a number of such bagfiles (mostly from lower-cost lasers like the Neato XV-11 and Hokuyo URG): http://fergy.me/slam
MIT has also posted bagfiles acquired on a PR2: http://projects.csail.mit.edu/stata/downloads.php These include a lot more than just laser data, so they are probably quite large.

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