Update Odometry

edit

Good afternoon friends I need to urgently update the odometry of my system.

I send the information

odom.pose.pose.position.x = positions [2];
odom.pose.pose.position.y = positions [3];
odom.pose.pose.position.z = positions [4];

When the theft arrives at the destination I have to check if the position is actually the one I sent, if not I should update. But I do not know how to proceed with this update.