/odom and /cmd_vel not matching

[tomvdb]

Hi, I'm trying to setup a robot using the diff_drive controller. I believe I have my ticks per meter and my wheel seperation setup correctly.

When I compare the /odom output, the linear velocity almost matches the speed i'm sending, but the angular velocity is way off. Should this not match?

I compared the same values on the mock robot, but it didn't match either. Am I missing something fundamental ?

T