How can i save path after finished localization?

[DAR-fly]

I run the code with my data successfully.But i want to save the track of localization and evaluate it with ground-truth.Can this code save tracks?If it can,how can i do?
And i noticed that when i run localization_velodyne.launch, /path topic in rviz error ,and showed that:
Transform [sender=unknown_publisher]
For frame [camera_init]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation 0.515963337s into the past. Requested time 1680234315.974725485 but the earliest data is at time 1680234316.490688801, when looking up transform from frame [camera_init] to frame [map]]
So how can i solve it?
Thanks a lot!