Estimated localization trajectory of the robot as a list of TF messages using SLAM Toolbox

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If you create a simple node (or add to your existing autonomy node) a TF subscriber, you can simply obtain the robot pose by obtaining the map to base_link transformation at your desired capture rate and store that in a list or whatever other format you find useful.

If you use a TF transformation filter on this node with your laser scanner as the subscriber, you can then easily have these things synchronized.