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How do you get your odometry information? Do you have it already computed and ready to fill the nav_msgs/Odometry and tf fields?

If yes, you should just use standard time publisher node from the documentation.
If no, you have to prepare the odometry - I suggest you to check these with hints how to do it:
- https://navigation.ros.org/setup_guides/odom/setup_odom.html
- https://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom/

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