Basic Robot Methods? (turn_degrees, drive_cm, dist traveled)

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As no one pointed me to anything specific, I chose to tackle building a "Robot Independent" odometer node in discrete Python by watching the /odom topic for start and end of motion and tallying the 3D distance traveled of each update between the start and end of motion. (I learned that not all robots publish encoders on the same topic and message format, where most are publishing odometry using a standard message format.)

After the fact, I found this code example (publishing the distance where I am using Python logging out to a file):

https://www.theconstructsim.com/ros-q...

Perhaps if my bagging skills were better I would log the distance segments to a topic and bag them to an odometer bag.

The other two methods, drive_cm() and turn_degrees() are indeed easy to implement but as mapping and navigation are next on my learning path, I expect I will find the "ROS way" for these I am sure someone has coded before.