There were some mistakes on the nomad driver...
This patch is for the one on svn...
It corrects sonar, bumper and ir geometries and corrects the assignment of a desired odometry to the robot (SET_ODOM_REQ) and what it influenced...
This patch will not apply properly, could you recreate it using svn diff?
Patch for the nomad driver, created using svn diff
Sorry about the mistake... The patch was generated using svn diff this time... This one should work... really sorry about that mistake...
The changes have been made in SVN trunk.
Thank you for your contribution.