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I am having the same issue. I simply added the negative sign in LaserOdometry2D::PoseUpdate(). in file CLaserOdometry2D.cpp Line 923: ` pose_aux_2D.translation()(0) = -acu_trans(0,2);` ` pose_aux_2D.translation()(1) = -acu_trans(1,2);` Line 956: `...