Odom creation for real robot

Hallo, I will use a wheel encoder to get the odometry data, but I still have no idea how to publish it as /odom topic, so I can use it to create a map, localization and navigation, can you let me know what the things that I should do? Thank you


Ok so one example that you might get some ideas from is the Differential Drive Pluging of Gazebo. There you might see how this odometry is generated based on the wheel radius and the wheel separation. Its a good starting point.