Publishing odometry information
The navigation stack also needs to receive data from the robot odometry. The odometry is the distance of something relative to a point. In our case, it is the distance between base_link and a fixed point in the frame odom.
The type of message used by the navigation stack is nav_msgs/Odometry. We can see its structure using the following command:
$ rosmsg show nav_msgs/Odometry
As you can see in the message structure, nav_msgs/Odometry gives the position of the robot between frame_id and child_frame_id. It also gives us the pose of the robot using the geometry_msgs/Pose message, and the velocity with the geometry_msgs/Twist ...
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