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If you're visualizing the path in RVIZ, you should be able write a node that subscribes to that same visualization topic and saves the data (of, if you are just watching the robot move along in RVIZ, you could save the pose of the robot as determined through TF). I don't know of any off the shelf approach for slam_gmapping -- slam_karto actually publishes the graph that it is optimizing as a visualization_msgs/MarkerArray which could be saved at the end of mapping.