Pi Pico ROS1/ROS2 odom

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I am building my first ROS robot. I have a Pi Pico with motor controller connceted to a jetson nano to control the wheels and read the encoders. Control of the motor and reading the encoders works with some python code.

I am a bit stuck on where to start from here. I would like to publish the odom message from the Pi Pico. In best case via Micropython + rosserial using ROS1 - as the Jetson Nano is running on Ubuntu 18.04 (could update to use ROS2). Not sure if this way works at all, as I cant find examples for it.

So in general - what is a working way to publish odom from the Pi Pico to the Jetson Nano?

I am glad for every hint on the right direction.