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Hello Nirmal,

This is what you need.

http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom

This will make sure that there are two things:

1. The odom topic will have the details for odometry information - the type for that topic is nav_msgs/Odometry.

2. In tf there will be a new transform between base_link and odom. The transformation from odom to base_link - defines the position and orientation of base_link in the odom frame - is the same as the position/orientation part of the odometry message as well. This should be apparent from the code.

However, I am not sure how you exactly compute the velocities/distances in that tutorial. Given that you already have the ticks, I guess all that you have to do now is this:

1. Convert from to ticks to distance travelled or velocity - I think distance travelled will give better accuracy.
2. Then simply adapt that code alongwith the tutorial to post odom information.

Once you have this you have to setup the navigation stack and you can run Monte Carlo localization.

Have a great day!