tf_tools
tf_logger
tf_logger will record the changes of frames published through tf each with respect to a given reference frame.
Usage
$ rosrun tf_tools tf_logger FREQUENCY REF_FRAME LOG_FRAME [REF_FRAME LOG_FRAME ...]
E.g. if you want to log both the transforms /world -> /odom and /odom -> /base_link at a frequency of 5 Hz, run
$ rosrun tf_tools tf_logger 5 /world /odom /odom /base_link
You can log as many transformations as you wish.