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Hi,

Both p2os_driver and ROSARIA publish nav_msgs/Odometry on "pose" topic. Therefore, it suffices to subscribe to the "pose" topic and collect Odometry messages.

If you really need left and right wheel velocities, you should use specific robot parameters and get those speeds from linear and angular velocities that are reported in the Odometry message.

Just one more note, ROSARIA reported Pose in [mm] prior to Feb 24, 2011. As of that date, we've fixed it to report Pose in [m].