How to obtain odometry for using it on navigation package?
I am working in a real project in ROS using an holonomic mobile robot. I have a lidar and an IMU and I don't know how to obtain the odometry just to use with the navigation package in a real unknown world application. I have almost implemented it on the simulated world but now I don't know how to integrate the sensors for calculate the odometry of the robot. I will be so pleased if someone could help me on that. I think that having a laser and an IMU that have to be so easy but in practice I don't know how to do it.