Can I get the pose data from Lidar required in navigation stack?

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Do you have a map to compare the scans with? What kind of laser is it? Do you have an other sensor data?

For 2D scans and a slam problem you can try theses packages: http://wiki.ros.org/gmapping http://wiki.ros.org/cartographer

Pose can be estimated using visual odometry. Some SLAM packages, such as rtabmap, perform visual odometry for you (such as RGB-D, stereo, or ICP visual odometry) provided it is configured correctly for the sensor that you are using. IMU's can also be used for odometry, though the quality will vary with the quality of IMU used; noisy and low quality IMUs will likely not result in odometry that is accurate enough to be useful.

Theoretically you can estimate your pose using lidar data. That is a set of techniques called visual odometry. Most useful algorithm as of today - see here. But it's fairly complicated and laborious task. There are a few companies (e.g. deepmap.ai) whose business is in essence localization based on lidar (and other sensors reading).

Getting your position based on GPS+IMU would be way easier to start with.