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Is this a duplicate question? Please do not flood the forums with duplicates.

If not, you could estimate your velocity by deriving your position with respect to time.

Is this a duplicate question? Please do not flood the forums with duplicates.

If not, you could estimate your velocity by deriving your position with respect to time.time. Estimate pose from velocity

x += v_x * dt
y += v_y * dt
theta += v_theta * dt

and so therefore your velocity in the odom frame can be estimated as

v_x = delta_x / dt
v_y = delta_y / dt
v_theta = delta_theta /dt

Given this you can extrapolate a robot frame velocity of

v.x = v_x/cos(theta)
omega = v_theta (due to the nature of differential drive kinematics).

Also keep in mind that due to kinematic constraints

v.y=0