Raw odometry data on stage [closed]

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I have taken the course called 'Robot Control' on coursera. I do not have a mobile robot with me so I can not try to design controllers on the real ones. I am quite familiar with the working of ROS. So I thought, why not do it on ros using stage to simulate the robot?

Is there a way to get the raw encoder values from the simulated robot on stage (though it might be perfect data)?

Or is there a package that already does the job? Please help.