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geometry_msgs/Twist is for velocities, geometry_msgs/Pose is for position and orientation.

nav_msgs/Odometry contains both together with covariances.

geometry_msgs/Twist is for velocities, geometry_msgs/Pose is for position and orientation.

nav_msgs/Odometry contains both together with ~~covariances.~~covariances (whereas designed for other purpose).

If you just need Twist and Pose together, you can easily design your own message.

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