# Calculating path using linear and angular velocity published by odometry

I have the message type `nav_msgs/Odometry`

constantly publishing linear and angular velocity.

I am calculating linear distance by taking Velocity at X and Y, multiply them by `1/rate(Hz)`

and summing them together. Is this calculation right?

Also, I am a bit skeptical about calculating the turn using angular velocity. Any guidance here is appreciated.

I am visualizing the path in RViz. It would be great if you could point me to relevant source code that I could look into.