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Yes, /gazebo/model_states topic. You need to find the index of mobile_base in the models list, e.g. 6 in the amcl_demo:

name: [bookshelf, jersey_barrier, ground_plane_0, unit_cylinder_1, Dumpster, cube_20k, mobile_base]

and use this index to access the list of poses. (e.g. msg.pose[6])

Odometry is not valid as global pose, as it accumulates error as the robot moves. Specially if the wheels glide, like when pushing heavy objects.