Corrected Odometry from GMapping / Karto?

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Localization services like gmapping, karto, and amcl publish the transform from /map -> /odom. This transform is the correction for the accumulated drift in the odometry as measured by the localization. If the odometry was perfect this transform would always be zero. So the "corrected odometry" is the net transform from /map to /odom to /base_link.

We've found it useful to add an additional frame to the standard tree: map->scanmatch_corrected_odom->odom

You can write the necessary code for karto to publish this transform, but we've found the Canonical Scan Matcher to perform very quickly and accurately while publishing local scan-match results out-of-the-box

A similar (at least if I understand you correctly) question was asked on the ML some time ago: http://ros-users.122217.n3.nabble.com/slam-gmapping-extracting-pose-history-td757355.html Unfortunately, there is no solution posted, but it might help to ask the involved people.