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 have noticed that the odometry published by
scout_baseon our Scout mini omni (launched withroslaunch 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: https://github.com/westonrobot/scout_ros/blob/0e56789f8f22ad8b3f7527c543c1aa6a096e6753/scout_base/include/scout_base/scout_messenger.hpp#L155
This makes the odometry agree to a reasonable point with the lidar. Do you have an idea what's wrong?