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You are right. I also observed that when the create moves backward by hand push/pull, the odometry is wrong (which is the case I reported in the 1st post), but if the same motion is issued by publishing cmd_vel in ROS program, then negative odom value is reported correctly. And I guess this is due to the fact that the brown driver has considered the movement sign internally.

I also fully agree that the the dometry on the Create is not that good. When I command it to go from staring point to another position(x,y) only based on its odometry, the create moves forward but always deviate away from the target...