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Alright, I seem to have fixed my original problem, I am using minimal.launch to start the turtlebot so I had to copy the appropriate parameters in turtlebot.launch into minimal.launch. Now I am even closer to building accurate maps, however,now no matter if i turn the robot left or right in real life, in Rviz the robot always turns the same way, it recognizes forwards and backwards but both right turns and left turns are interpreted as the same. Anyone have any thoughts?

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