The initialization of pose_th_,pose_x_ and pose_y_

[robotfan4]

You should initialize poseth,posex and posey equal to zero at the construct function of control.cpp When i using the fake odom tf, it works perfectly on one machine, but becomes weird on the other machine. I finally found that some machine give a random initial value instead zero... Bests.

[romainreignier]

Nice catch, you should submit a pull request.

[KevinOchs]

This has been addressed!