The real turtlebo pose in gmapping

Hi, I'm a beginner in ROS and learn the gmapping package now. I would like to visualize the real robot pose and the estimated robot pose in RVIZ. Now when I run gmapping and teleop to move the robot to explore the world, the robot jumps from one position to another, which, I guess, comes from the update of the robot pose in SLAM. But can I also have the real robot pose from gazebo? Thank you guys, Yue