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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