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Patrick, the Brown package does not fill in the covariance matrix part of the odometry message. I imagine that covariances are needed by the ekf estimation. You might be interested to see the covariance matrix that has been added to the turtlebot driver (around line 297 here https://kforge.ros.org/turtlebot/turtlebot/file/2154e9c1c701/turtlebot_node/nodes/turtlebot_node.py)

You could probably copy that covariance matrix into the brown driver as well (and maybe submit a patch to brown for inclusion, as it seems a good idea to publish a valid matrix).