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As mgruhler said to opencr stops sending cmd_vels to the motors but the raspberry pi is still up and publishing the odom. The opencr is the one responsible for sending the odom through the pi. I have seen the wheel encoders to jitter back and forth and the imu also jitters a little. The opencr uses the imu for the orientation in odom and the wheel encoder jitter would produce some linear motion in the odom.
The opencr does make a sound but it is only a single beep and it is easy to miss. So now that I know what to look for I just simply stop and recharge.
mgruhler Sorry for stealing the points for answering but I didn't know how to upgrade you comment to an answer
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