Neato robot - how calibrate odometry

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Hi

Getting the impression that the speed of my neato Botvac robot is affecting the odometry reading. Slow speed means the robot travel a shorter distance and the opposite. This got more apparent when running the calibration script from the book "ros by example indigo".

Has anyone been able to properly calibrate a neato robot odometry? If so how? Which is the parameter to set in the launch file for the angular and linear? And can variation in speed of the robot affect the odometry or am I just doing something wrong perhaps?

Running the xv-11 neato_driver package from Michael Ferguson that otherwise works very well with my botvac 75!

Thanks