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This sounds like the output of your wheel and visual odometry differs. Note that odometry has fields for both the Twist and the Pose in the odometry frame. If the VSLAM approach you're using just fills the Twist with velocity data, but the Pose is not properly filled that could explain the symptoms you're seeing. In any case it would be good if you edit your question with example rostopic echoed output, once for wheel and once for visual odometry.