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While doing my calibration, the turtlebot would spin and attempt to line up with the wall and then would correct the error by realigning with the wall before starting the next spin. (of course it did a couple of spins before the actual calibration spins).

NOTE: I was having issues with my calibration and it turned out it was because I was performing the calibration in a hallway... do not do that. go to larger room that does not have a wall directly behind the one you are trying to calibrate against and you should get better results... my odom was close to 1

While doing my calibration, the turtlebot would spin and attempt to line up with the wall and then would correct the error by realigning with the wall before starting the next spin. (of course it did a couple of spins before the actual calibration spins).

NOTE: I was having issues with my calibration and it turned out it was because I was performing the calibration in a hallway... do not do that. go to larger room that does not have a wall directly behind the one you are trying to calibrate against and you should get better results... my odom measurement was close to 1 and the gyro measurement was about 1.5 when I was finished.