This block receives a twist message of type geometry_msgs::msg::Twist from the input signals pose and twist and publishes it as a nav_msgs::msg::Odometry message.

  RosPublisherOdometry pubOdom(node, "/test/odom", "rbf", "of"); // create publisher block

See https://github.com/eeros-project/eeros-framework/blob/master/includes/eeros/control/ros2/RosPublisherOdometry.hpp for further details.