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### Is it possible to convert geometry_msgs PoseStamped to nav_msgs Odometry?

I am trying to build a differential drive robot similar to a turtlebot, but I only have RPLidar as the sensor. I would like to use its data from /scan to publish messages of type nav_msgs/Odometry.

I tried using laser_scan_matcher but it only give Pose2D, which isn't sufficient as I need Twist information for Odometry msgs as well.

I even tried using the r2f_laser_odometry, but I'm unable to get it working.

I tried hector_mapping, but it publishes geometry_msgs/PoseStamped and PoseWithCovariance.

Can someone guide me with the process of converting this datav from this message type to Odometry type which is compulsory for move_base?

### Is it possible to convert geometry_msgs PoseStamped to nav_msgs Odometry?

I am trying to build a differential drive robot similar to a turtlebot, but I only have RPLidar as the sensor. I would like to use its data from /scan to publish messages of type nav_msgs/Odometry.

I tried using laser_scan_matcher but it only give Pose2D, which isn't sufficient as I need Twist information for Odometry msgs as well.

I even tried using the r2f_laser_odometry, rf2o_laser_odometry, but I'm unable to get it working.

I tried hector_mapping, but it publishes geometry_msgs/PoseStamped and PoseWithCovariance.

Can someone guide me with the process of converting this datav from this message type to Odometry type which is compulsory for move_base?