Odometer Code

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can you explain further or provide a source explaining the code.. i dont understand what's in the website. it is not enough.

Odometry only makes sense, when it comes to a robot. So, at least the velocity values or pose estimates needs to be robot data. Unless you have that it doesn't make sense to publish odometry. If you want more detailed information, you'll have to provide what data you can get out of your robot.

i can get anything out of my robot.. i already provided the velocities,, how can i get the pose estimates?

In this case the code should already work. You only need to continuously update these. It integrates velocities to get pose estimates in ll 31-34. If you have direct pose estimates, e.g., from encoders your code also use these.