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You can use the gazebo_ros_p3d plugin in your robot's URDF to directly publish (ground truth) odometry for your robot. Here's a usage example: tracker_chassis.gazebo.xacro.xml

For your use case (publishing directly to odom) it would probably look like this:

<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>50.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>odom</topicName>
  <gaussianNoise>0.01</gaussianNoise>
  <frameName>world</frameName>
  <xyzOffsets>0 0 0</xyzOffsets>
  <rpyOffsets>0 0 0</rpyOffsets>
</plugin>