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@gvdhoorn is right, this is a topic with an abundance of documentation in the community and simple geometry.

With that said this is how

vel_l = ((msg.linear.x - (msg.angular.z * self.wheel_bias / 2.0)) / self.wheel_radius) * 60/(2*3.14159)
vel_r = ((msg.linear.x + (msg.angular.z * self.wheel_bias / 2.0)) / self.wheel_radius) * 60/(2*3.14159)