diff --git a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
index 7e463426e1..91aeef1632 100644
--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
@@ -47,6 +47,12 @@ class DifferentialDriveOdometry {
     m_previousAngle = pose.Rotation();
   }
 
+  /**
+   * Returns the position of the robot on the field.
+   * @return The pose of the robot.
+   */
+  const Pose2d& GetPose() const { return m_pose; }
+
   /**
    * Updates the robot's position on the field using forward kinematics and
    * integration of the pose over time. This method takes in the current time as
diff --git a/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h b/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
index 58bdc6cfc7..098b7ff121 100644
--- a/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
@@ -45,6 +45,12 @@ class MecanumDriveOdometry {
     m_previousAngle = pose.Rotation();
   }
 
+  /**
+   * Returns the position of the robot on the field.
+   * @return The pose of the robot.
+   */
+  const Pose2d& GetPose() const { return m_pose; }
+
   /**
    * Updates the robot's position on the field using forward kinematics and
    * integration of the pose over time. This method takes in the current time as
diff --git a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
index 168c7c4cea..2d7af7f70d 100644
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
@@ -50,6 +50,12 @@ class SwerveDriveOdometry {
     m_previousAngle = pose.Rotation();
   }
 
+  /**
+   * Returns the position of the robot on the field.
+   * @return The pose of the robot.
+   */
+  const Pose2d& GetPose() const { return m_pose; }
+
   /**
    * Updates the robot's position on the field using forward kinematics and
    * integration of the pose over time. This method takes in the current time as
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
index 53eeff2c01..b63f7265f0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
@@ -64,6 +64,14 @@ public class DifferentialDriveOdometry {
     m_previousAngle = poseMeters.getRotation();
   }
 
+  /**
+   * Returns the position of the robot on the field.
+   * @return The pose of the robot (x and y are in meters).
+   */
+  public Pose2d getPoseMeters() {
+    return m_poseMeters;
+  }
+
   /**
    * Updates the robot's position on the field using forward kinematics and
    * integration of the pose over time. This method takes in the current time as
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
index f43e59094f..890cb9a0af 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
@@ -58,6 +58,14 @@ public class MecanumDriveOdometry {
     m_previousAngle = poseMeters.getRotation();
   }
 
+  /**
+   * Returns the position of the robot on the field.
+   * @return The pose of the robot (x and y are in meters).
+   */
+  public Pose2d getPoseMeters() {
+    return m_poseMeters;
+  }
+
   /**
    * Updates the robot's position on the field using forward kinematics and
    * integration of the pose over time. This method takes in the current time as
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
index ac28c209f1..e33c7f532d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
@@ -58,6 +58,14 @@ public class SwerveDriveOdometry {
     m_previousAngle = pose.getRotation();
   }
 
+  /**
+   * Returns the position of the robot on the field.
+   * @return The pose of the robot (x and y are in meters).
+   */
+  public Pose2d getPoseMeters() {
+    return m_poseMeters;
+  }
+
   /**
    * Updates the robot's position on the field using forward kinematics and
    * integration of the pose over time. This method takes in the current time as