Hi, I'm working on navigation stack, with a lidar only, I don't have any odometry, so I wonder if the data from the lidar can be sufficient to publish relevant tf and the nav_msgs/Odometry message...

I searched around and saw laserscanmatcher might be possible, but it doesn't contain velocity?

there I also found a package rf2olaserodometry, but I have no idea how to implement or if it really works to substitute the odometry (I'm very new to ROS...)

Is there anyone who came across these and could give me advice/ any tutorial on these?

Thanks!