def METHOD_NAME(self) -> None:
    """
    Publish the current pose/twist to ROS as odometry
    """
    odom = Odometry()
    odom.pose.pose.position = numpy_to_point(self.pose[0:3])
    odom.pose.pose.orientation = numpy_to_quaternion(self.pose[3:])
    odom.twist.twist = numpy_to_twist(self.twist[0:3], self.twist[3:])
    odom.header.stamp = rospy.Time.now()
    odom.header.frame_id = "map"
    odom.child_frame_id = "base_link"
    self.odom_pub.publish(odom)