Hi, I use diffdrivecontroller package on my robot. I revised the parameters according to my own robot. But i have a problem. If I set the wheelradius parameter to 1, all the values(jointstates, measuredjointstates, publishwheeljointcontrollerstate) are correct, but if I set it to its real value(0,075 meter) for wheelradius, the Odometry and desiredposition(publishwheeljointcontrollerstate) datas are corrupted. How can i fix this problem? Thank you!

Thats my config;

mycontrol_bot:
  # Settings for ros_control hardware interface
  hardware_interface:
     joints:
        - wheel_0_joint
        - wheel_1_joint

  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50


  mobile_base_controller:
    type: diff_drive_controller/DiffDriveController
    publish_rate: 50

    left_wheel: 'wheel_0_joint'
    right_wheel: 'wheel_1_joint'

    # Wheel separation and diameter. These are both optional.
    # diff_drive_controller will attempt to read either one or both from the
    # URDF if not specified as a parameter
    wheel_separation : 0.3175
    wheel_radius : 0.0755 # 1.0


    publish_cmd: True
    publish_wheel_joint_controller_state: True

    # Odometry covariances for the encoder output of the robot. These values should
    # be tuned to your robot's sample odometry data, but these values are a good place
    # to start
    pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]

    # Top level frame (link) of the robot description
    base_frame_id: base_footprint

    # Velocity and acceleration limits for the robot
    linear:
      x:
        has_velocity_limits    : true
        max_velocity           : 1.0  # m/s
        min_velocity           : -0.5 # m/s
        has_acceleration_limits: true
        max_acceleration       : 0.8  # m/s^2
        min_acceleration       : -0.4 # m/s^2
        has_jerk_limits        : true
        max_jerk               : 5.0  # m/s^3
    angular:
      z:
        has_velocity_limits    : true
        max_velocity           : 1.7  # rad/s
        has_acceleration_limits: true
        max_acceleration       : 1.5  # rad/s^2
        has_jerk_limits        : true
        max_jerk               : 2.5  # rad/s^3