Angular velocity

[ojura]

I have noticed that the odometry published by scout_base on our Scout mini omni (launched with roslaunch scout_bringup scout_mini_omni_minimal.launch, no other modifications made to SW or HW) seems to have a scaling error of a factor around 1.26.

That is, if I make 10 full rotations with the vehicle (by just setting angular z), the integrated odometry reports (roughly) 12.6 rotations.

I mitigated this by dividing with 1.26 here the velocity from CAN:

scout_ros/scout_base/include/scout_base/scout_messenger.hpp

Line 155 in 0e56789

double angular_speed = msg.angular_velocity;

This makes the odometry agree to a reasonable point with the lidar. Do you have an idea what's wrong?