Calculating path using linear and angular velocity published by odometry

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Thanks! I was just curious why I am getting linear X and Y velocities published by the robot. Shouldn't it publish just Linear X velocity and Z angular velocity?

Yes, if you have a differential drive robot. However, for omni-directional ones you do have y-velocities. Those can drive sideways.

That makes sense. But my robot here is a differential drive one. Still I am getting X and Y. Could it be because the message publishes it in map frame, which is why I am getting both X and Y. If yes, how do I interpret X and Y velocity in my map frame as? How do I calculate the distance?

Then there is something wrong with your base driver. The odometry (i.e. the velocity) should always be published in the base_link (or whatever base frame name you have). Are you by any chance looking at the pose and not the twist? The pose is the integrated velocity and will change in x and y.