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To get encoder ticks, you can connect the encoders to an Arduino, among many other ways. You will find a lot of help to write a script online. One example is: https://github.com/centauri-robotics/ck9/blob/master/arduino/base_controller_ros.ino
To connect arduino and ROS via serial communication, checkout: http://wiki.ros.org/rosserial_arduino/Tutorials
For odometry calculations checkout: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom or
https://github.com/centauri-robotics/ck9/blob/master/src/odometry.py
You can find a lot of relevant help at http://wiki.ros.org/navigation/
In future, try to break down your questions and search for it, a lot of these questions already have good answers
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