Rosys (a middleware layer https://github.com/zauberzeug/rosys) has rosys.driving.Odometer and rosys.driving.Steerer it's essentially a differential drive kinematic model.

Hoping RTK dual-F9P moving-base setup (M4 in the roadmap) largely sidesteps the worst of this — NAV-RELPOSNED gives us a real heading vector independent of wheel odometry, and the robot_localisation EKF can weight RTK heavily and odometry lightly when GNSS quality is good.

The current simulation is underdeveloped but can be found here https://github.com/samuk/caatingarobotics/tree/jazzy/src/agr...

The frame will almost certainly need more triangles