So you suggest the tf config like this:

/map
/map/wheel_odometry (just for show)
/map/odom
/map/odom/base
/map/odom/base/laser

So "map" contains the current (relative) drift of odom to compensate slip ?

Ah ok...

By the way, how do i read out the current angular/translative velocities ?
There are only tutorials how to publish them, but not how to read them out !

thanks://Sven
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