Hi brian.
I was looking for an example of this topic and this post is all I got. Thank you very much for sharing!
However, I´m confused about some details in the code (calculating Wheel Rates, wheel base...). The original documentation (odometry.pdf) that you linked is nowhere to be found. Do you have it? Could you upload it, please?
I´m aware that this topic has 2 years so I think it´s meaningless to ask it now, but it would help me A LOT if its possible for you to share the documentation (or your knowledge
).