Calculating Odometry Data for the Navigation Stack

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Hi Everyone,

I hope someone can help me answer a simple question. My custom robot delivers data. The data are velocity (m / s) and rotation velocity (deg / s or rad / s). I also recieve the distance the robot has traveled (mm). My problem is, I need to publish the odometry-data for the navigation-stack. I followed this tutorial ( http://wiki.ros.org/navigation/Tutori... ). The tutorial calls for the vx and vy and vth coordinates. I have the vth coordinates but I need vx and vy and don´t know how to calculate them having only the velocity and the rotation velocity.

Thank you in advance for any advice!