diff --git a/README.md b/README.md
index cc7442afcbc97412245e2176ef86e5d49a148e61..29667c354aff6e8304bed67bbb9088fc0807d4d7 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 ## Description
 
-This ROS package generates the odometry information from the encoder provided by the platform. The encoder message is defined in [here](https://gitlab.iri.upc.edu/mobile_robotics/adc/platform/model_car/iri_model_car_msgs).
+This ROS package generates the odometry information from the encoder provided by the platform. The encoder message is defined in [iri_model_car_msgs](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_msgs).
 
 Additionally, this package also generates an additional feedback information specific to Ackermannn-like platforms with information which is not available in a standard [Odometry](http://docs.ros.org/en/melodic/api/nav_msgs/html/msg/Odometry.html) message. This feedback information includes the following information as an [AckermannDriveStamped](http://docs.ros.org/en/melodic/api/ackermann_msgs/html/msg/AckermannDriveStamped.html) message:
 
@@ -10,7 +10,7 @@ Additionally, this package also generates an additional feedback information spe
 
 The platform does not provide actual feedback information from the steering angle and velocity, so the motion command sent to the platform is used to generate it.
 
-Due to the low resolution of the encoders used in the platform, at low speeds, the raw encoder information is not suitable to generate accurate odometry information (the encoder count increments present isolates impulses separated by 0's), To solve that a simple first order low pass filter is used. The cut-off frequency of this filter can be set by a parameter.
+Due to the low resolution of the encoders used in the platform, at low speeds, the raw encoder information is not suitable to generate accurate odometry information (the encoder count increments present isolates impulses separated by 0's), To solve that a simple first order low pass filter can be enabled. The cut-off frequency of this filter can be set by a parameter.
 
 This package can also, optionally, publish the transform between the *odom* and *base_footprint* frames using TF.
 
@@ -33,7 +33,7 @@ This package can also, optionally, publish the transform between the *odom* and
 - ~**robot_frame** (String; default: base_footprint) Name of the robot frame.
 - ~**encoder_ticks** (Integer; default: 60: min: 1; max: 1000) Number of encoder ticks per revolution.
 - ~**wheel_diameter** (Double; default: 0.108; min: 0.01; max: 1000) Diameter of the wheel in meters. This parameter must coincide with the actual platform value to minimize estimation errors.
-- ~**wheel_distance** (Double; default: 0.216; min: 0.01; max: 1000) Distance between wheels in meters. This parameter must coincide with the actual platform value to minimize estimation errors.
+- ~**wheel_distance** (Double; default: 0.261; min: 0.01; max: 1000) Distance between wheels in meters. This parameter must coincide with the actual platform value to minimize estimation errors.
 - ~**axel_distance** (Double; default: 0.3662; min: 0.01; max: 1.0) Distance between axels in meters. This parameter must coincide with the actual platform value to minimize estimation errors.
 - ~**enable_filter** (Bool; default: True) Enable or disable the use of the low pass filter for the encoder data.
 - ~**filter_coeff** (Double; default: 0.3; min: 0.01; max: 1.0) Coefficient for the first order low pass filter used to smooth the estimation of the forward speed.
@@ -75,20 +75,20 @@ catkin_make
 
 ## Launch
 
-This package is normally launched as part of a more complete launch file, either in simulation or with the real robot. See the documentation in [here](https://gitlab.iri.upc.edu/mobile_robotics/adc/platform/model_car/simulator/iri_model_car_how_to) for more information.
+This package is normally launched as part of a more complete launch file, either in simulation or with the real robot. Check the main [model car documentation](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_how_to) for further information.
 
 The main launch file (*node.launch*) has the following arguments:
 
 * **node_name** (default=model_car_odometry): name of the ROS node.
 * **output** (default=screen): Desired log output. Possible values are screen and log.
 * **launch_prefix** (default=): Set of parameters to be pre-apended to the node launch command.
-* **config_file** (default=$(find iri_model_car_odometry)/config/params.yaml): file with the node configuration. See this [section](#parameters) for more information on the available parameters.
+* **config_file** (default=$(find iri_model_car_odometry)/config/params.yaml): file with the node configuration. See [the parameter section](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_odometry#parameters) for more information on the available parameters.
 * **encoders_topic** (default=/encoders): Name of the encoders topic to be used.
 * **odom_topic** (default=/odom): Name of the odom topic to be used
 * **control_topic** (default=/control): Name of the control topic to be used. 
 * **ackermann_feedback_topic** (default=/ackermann_feedback): Name of the ackermann feedback topic to be used.
 
-To include the iri_model_car_odometry into an other launch file, include the following lines:
+To include the iri_model_car_odometry into another launch file, include the following lines:
 
 ```
   <include file="$(find iri_model_car_odometry)/launch/node.launch">
diff --git a/cfg/ModelCarOdometry.cfg b/cfg/ModelCarOdometry.cfg
index 15e9613053d31280e793e91c38744917148bf6db..547388253eaa27cd3c8bab00aed38a60c75e4b85 100755
--- a/cfg/ModelCarOdometry.cfg
+++ b/cfg/ModelCarOdometry.cfg
@@ -43,7 +43,7 @@ gen.add("odom_frame",         str_t,     0,           "Name of the odometry fram
 gen.add("robot_frame",        str_t,     0,           "Name of the robot frame",                "base_footprint")
 gen.add("encoder_ticks",      int_t,     0,           "Number of encoder ticks per revolution", 60,     1,   1000)
 gen.add("wheel_diameter",     double_t,  0,           "Diameter of the wheel in meters",        0.108,  0.01,1000)
-gen.add("wheel_distance",     double_t,  0,           "Distance between wheels in meters",      0.216,  0.01,1000)
+gen.add("wheel_distance",     double_t,  0,           "Distance between wheels in meters",      0.261,  0.01,1000)
 gen.add("axel_distance",      double_t,  0,           "Distance betweena axels in meters",      0.3662, 0.01,1.0)
 gen.add("enable_filter",      bool_t,    0,           "Enable the low pass filter for the encoder data", True)
 gen.add("filter_coeff",       double_t,  0,           "Coefficient for the first order low pass filter", 0.3, 0.01,1.0)
diff --git a/config/car1_params.yaml b/config/car1_params.yaml
index ba68b2ea26c0ac851c1daa2346dec60303888000..02b8f1289a3bffc31ac33b2eec4afc78e262153e 100644
--- a/config/car1_params.yaml
+++ b/config/car1_params.yaml
@@ -3,7 +3,7 @@ odom_frame: "car1/odom"
 robot_frame: "car1/base_footprint"
 encoder_ticks: 30
 wheel_diameter: 0.100
-wheel_distance: 0.216
+wheel_distance: 0.261
 axel_distance: 0.3662
 enable_filter: True
 filter_coeff: 0.3
diff --git a/config/car2_params.yaml b/config/car2_params.yaml
index e22db2f44d17f7b99fa9572baf8d62c501d74e15..40a0f07d27da659f6e9efbbd961f3e794f666879 100644
--- a/config/car2_params.yaml
+++ b/config/car2_params.yaml
@@ -3,7 +3,7 @@ odom_frame: "car2/odom"
 robot_frame: "car2/base_footprint"
 encoder_ticks: 30
 wheel_diameter: 0.100
-wheel_distance: 0.216
+wheel_distance: 0.261
 axel_distance: 0.3662
 enable_filter: True
 filter_coeff: 0.3
diff --git a/config/params.yaml b/config/params.yaml
index f08a7f88333774bfdb15bc5ab77b5a14b2ad39b2..425bf591619aee4219ee7146b97c87cf6d304a03 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -3,7 +3,7 @@ odom_frame: "model_car/odom"
 robot_frame: "model_car/base_footprint"
 encoder_ticks: 30
 wheel_diameter: 0.100
-wheel_distance: 0.216
+wheel_distance: 0.261
 axel_distance: 0.3662
 enable_filter: True
 filter_coeff: 0.3
diff --git a/config/params_no_tf.yaml b/config/params_no_tf.yaml
index 92d9332432bfc141cb07469e7e74fe97348b4474..2d4a37c6f89bde1c12f3f4de09d08a4e533f6243 100644
--- a/config/params_no_tf.yaml
+++ b/config/params_no_tf.yaml
@@ -3,7 +3,7 @@ odom_frame: "model_car/odom"
 robot_frame: "model_car/base_footprint"
 encoder_ticks: 30
 wheel_diameter: 0.100
-wheel_distance: 0.216
+wheel_distance: 0.261
 axel_distance: 0.3662
 enable_filter: True
 filter_coeff: 0.3