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I'm not aware of any such tutorial. Your motor driver should give you velocity values. You then need to calculate where the bot would be based on its speed, for e.g. if you have a bot that started at origin and is moving at 0.1 m/s in +x, then after 1 second you would update it's position from (0,0) at t=0, to (0.1,0) at t=1. You then need to combine this information of the bot's current velocity and current position in a chosen frame, and publish it at a desired rate. This tutorial should guide you through that.