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In fact, we recognized that almost everything with the odometry package is wrong in icreate. I could not find any successful implementation either. For example if you move only one wheel by keeping the irobot upside down on your knees, you will see both left and right wheel encoders will be non-zero. We made some assumptions for this. We assumed at least some parameters are correct and derived multiple solutions but it did not help either. I believe, the odometry package for icreate robot and the encoder values are unusable. Best.