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You can calculate between each odometry message the distance traveled by the robot with the formula :

dist = sqrt(dx² + dy²)

With dx = new_x - old_x and dy = new_y - old_y. So you have to save the previous odometry value and calculate the dx and dy after each odometry message received (or maybe each seconds instead).

You can calculate between each odometry message the distance traveled by the robot with the formula :

dist = sqrt(dx² + dy²)

With dx = new_x - old_x and dy = new_y - old_y. So you have to save the previous odometry value and calculate the dx and dy after each odometry message received (or maybe each seconds instead).instead). And then you add each distto get the total distance.