Set Odometry in a new robot in ROS

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Hi! I'm trying to create a robot with a new model in ROS .gazebo/models. I defined model.config and model.sdf. I have to set the ros message Odometry because in the 'risotopic list' there isn't /odom.

How can I define the odometry of my robot?

When I pose my robot in Gazebo default, it gives me these errors:

Error [Model.cc:153] LoadJoint Failed Error [Plugin.hh:138] Failed to load plugin libodometry.so: libodometry.so: cannot open shared object file: No such file or directory