SLAM estimate data

[ShashwatMahapatra]

First of all I would like to thank the creators of the Lego-LOAM @TixiaoShan , this is a brilliant algorithm and works amazingly.
I am fairly new to SLAM and ROS in general, thus I am seeking advice on a certain doubt.
I would like to extract pose estimate data and i have carried out rostopic echo command on all the topics displayed in the rviz, however with no concrete conclusion in sight i would like to know if there is a way to extract estimate data in the format of [#timestamp tx ty tz].
I would greatly appreciate it if there is a method to do so or which topic to subscribe to.

[ShashwatMahapatra]

I just want to know which topic i need to subscribe on to get the pose data, i tried /integrated_to_init and it did not seem to help.