problem with dataset unit

[karthyhu]

thank you to release this program ,it is very impressive and useful .
but I have some problem with my dataset ,i tried to record image and odom data by ROS ,and I think the odom data means it have a origin point and record the relative relationship between the robot and the origin,so I get nav_msgs/Odometry->pose to use my odom data,but when i refer to your data,i realise that my profile is very different from yours,so i'm not sure whats wrong with my set,con you tell me your's data unit？

this is my dataset
https://drive.google.com/file/d/1WvbhH-GzAaZA3E2IITXCSom7MtctMbkz/view?usp=sharing

when i go stright robot almost not move,just turn looks correct.

thank you.