I have the message type nav_msgs/Odometry constantly publishing linear and angular velocity.
I am calculating linear distance by taking Velocity at X and Y, multiply them by 1/rate(Hz) and summing them together. Is this calculation right?
Also, I am a bit skeptical about calculating the tu using angular velocity. Any guidance here is appreciated.
I am visualizing the path in RViz. It would be great if you could point me to relevant source code that I could look into.