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The Nav 2 Transformations and odometry documentation are pretty helpful:

https://navigation.ros.org/setup_guides/transformation/setup_transforms.html

https://navigation.ros.org/setup_guides/odom/setup_odom.html

You need something to publish the odometry transform you’re missing. It’s confusing because there are many possible sources for that transform and it depends on how you setup your robot. Here are some examples:

• A motor controller driver that publishes wheel odometry based on wheel encoders
• A gazebo plug-in in a simulated robot
• A tracking camera driver such as the RealSense T265
• the ros2_control framework
• The robot_localization package that can fuse multiple odometry sources such as wheel encoders, IMU, or GPS
• and more….