Can i use raspberry pi to calculate odometry and publish over ROS?

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@Orhan Thank you, this was really helpful. In the GitHub link, in which file can I add the pose information and will I have to add build and run depend on "tf" to package.xml (no changes in Cmakelists?) after adding the pose information.

If you read the first link, it points out tf and nav_msgs, you should add both to CMakeLists.txt and package.xml. The main file looks like what you need. It's the file that you get information and publish it to a topic.

@Orhan In the odometry example by ROS, they have done it in just one code. So is it fine if I add the encoder data (using wiringpi) and add the formulae for velocities in that code itself and keep the rest same (no change in Cmakelist and package.xml). Will it work? Thank for reply:)

Yes. It would work.

@Orhan How and where do I have to install the wiringPi library, I cloned github link in the home folder (then build it) but I'm getting an error during catkin_make of above odometry package = "could not find configuration file provided by wiringPi with names wiringPiConfig.cmake".

http://wiringpi.com/download-and-install/ and

https://raspberrypi.stackexchange.com/questions/68297/linking-wiringpi-library-in-cmakelists

Please prefer googling, instead of asking. This way, you can find information by yourself, faster.