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@@ -33,10 +33,10 @@ odom_name: odom
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# Robot drivetrain parameters
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wheel_diameter: 0.058
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-wheel_track: 0.1104 #L value
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+wheel_track: 0.109 #L value
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encoder_resolution: 11 #12V DC motors
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gear_reduction: 46 #empty payload rpm 130 r/m
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-linear_scale_correction: 0.974
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+linear_scale_correction: 1.028
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angular_scale_correction: 1.00
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# === PID parameters
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