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This didn't help me much, as I seem to have an actual problem with the calibration routine. Consecutive runs, updating the values as instructed each time, resulted in continually lower gyro scale corrections. I think it would have gone to zero eventually. Finally, I just eyeballed it in the gmapping demo. I could see how far off it was when I turned. I finally came to a value of 2.4 for the gyro scale correction. With that value, in the mapping demo, when I turned, the mapped walls followed the laser points exactly, requiring much less pose re-estimation. Mapping went like a snap.