-You need to use the Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry.
-I used the Wheel Setup from Mobile Robots 2.
-The world frame is "odom" since this setup is running without SLAM and amcl.
+The world frame of the navigation setup is "odom" since this robot is running without SLAM and amcl.
+
+Hardware setup:
+<---------->
+You need to use the Robo Explorer with wheels instead of tracks because the tracks are too inaccurate for Odometry.
+I used the two wheel Setup from Mobile Robots 2.