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From what I can tell, turtlebot_calibration is making use of an active 3D sensor to calibrate angular measurements. I'm not familiar with odometry calibration, but you could start by looking at turtlebot_calibration. You might be able to adapt their code by replacing the scan delta with manual user input for comparison against the odometry. Also, to keep things simple, keep angular calibration separate from linear calibration.

I'd be more than happy to review and integrate any solution you come up with into the package ca_tools.