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Segway RMP delocalizes

Hi Folks,

I have a segway 50 XL as my robot's platform. When the robot goes backwards/forwards, it localizes quick and well. But when the robot is turning in place, it quickly de-localizes, causing the robot to move in the wrong direction when ROS tells it to go on a a straight line. I am using the segway_rmp packages, and the libsegwayrmp. I have not modified anything on any library, but I guess I need to in order to fix the problem. Maybe I need to find a better "magic number" for the base width (I'm assuming you have a base with parameter for the odometry)??? (modifying the based with on another platform helped me solve the problem)