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Just so we're on the same page:

• None of the nodes in robot_localization can detect or account for wheel slip. However, I think what you're saying is "if the wheels slipped, the EKF won't know that, so it will think the robot has moved forward, even if it hasn't." This is accurate.
• So what you are looking for is a ground-truth measurement of where your robot really is. Let me know if I have that wrong.

Assuming I am correct, the only way to obtain a ground truth estimate will be through the use of some kind of external measurement system, e.g., a motion capture system or overhead camera system. If there was on "on robot" way to know the robot's true pose, there would be no need for state estimation packages, because you'd already have the robot's true pose.

As an alternative, does the manufacturer of your robot provide a Gazebo simulation of it? You could directly compare the output of the EKF or UKF with Gazebo's perfect ground truth of the robot's true state. However, it will likely require some effort to model effects like wheel slip.