Originally forked from MapirLAB. http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/papers/217
I speculate that the origin of this package is to be used with differential-drive robots. When tested, it does not produce the right linear speed y.
I modified it so it can be used with the holonomic robot, which needs odometry calculation for linear speed in the y-axis. This will help the move_base navigation stack later
A simple echo to the topic /odom is shown below:
