P2os does publish odometry data on the /pose topic and contains:
Pose w/ covariance:
	Pose - {Estimated pose}
		Point (x,y,z) {x,y,z co-ordinants}
		Orientation (x,y,z,w quaternion) 
	Covariance matrix
Twist w/ covariance
	Twist
		Linear (x,y,z) {linear speed}
		Rotation (x,y,z) {angular rotation speed}
	Covariance Matrix


Hope that helps
Matt

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