Hi, i have a differential drive Robot with Kinect and 2 wheel encoders on it. At the moment I am using the hectorslam package to create a map without odometrymsg. My next step is to implement the wheel encoders for odometry-information, but i only found the differentialdrive Package which is not available on Ros Jade. Is there any other Package on Ros Jade which creates odometrymsgs of my encoder-counts and controls the motors? Thanks for answers :)