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In the package wiki it says;

wheel_low_wrap (int, default: 0.3 * (encoder_max - encoder_min) + encoder_min

wheel_high_wrap (int, default: 0.7 * (encoder_max - encoder_min) + encoder_min

If a reading is greater than wheel_high_wrap and the next reading is less than wheel_low_wrap, then the reading has wrapped around in the positive direction, and the odometry will be calculated appropriately. The same concept applies for the negative direction.

Therefore it seems like it can handle wrap around.

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