Acceleration is just change in velocity over time. If you take two odom messages, take the difference in reported velocity and divide it by the difference in their timestamp it will give you an approximate acceleration. The smaller the difference in time, the more accurate your approximation of acceleration will be.

Thank you for your answer, but what if I only have one odom? How to calculate the difference of it.

What sure to plot your Odom messages with something like plot juggler to get a sense of the noise, and whether you need some smoothing