odometry translation is rotated, but orientation is correct

[MrOCW]

Hi @wh200720041,

I changed the src code to publish the odometry msg from odom->base_link and cancelled the TF publishing as I am using EKF.

the orientation of the odometry is correct but the translation is offset by about 45 degrees so my robot looks as though it is facing north but gliding north east. How should i fix this? am using an ouster 32 lidar and it is rotated 45 degrees towards north west. I tried changing the lidar orientation to point north but it still translates north east.

Thanks