This Hackaday.io project page is primarily focused on the hardware, but because Phoebe is a project to explore ROS there's a significant software component as well. After chassis first draft was assembled, I dove into the software side.

Up on Github is a free ROS node for integrating Roboclaw motor controller module used on Phoebe. I encountered three problems while trying to get Phoebe moving. All three of these fixes have been submitted back to the original repository as pull requests.

• Encoder Ticks Per Meter Of Travel
• Encoder Count Logging Error
• Add Thread Synchronization

Once Phoebe was moving reliably, I tried to integrate LIDAR data with odometry data generated by Roboclaw from reading motor encoders, but that unveiled another bug with odometry calculation. 

• Odometry Calculation Reversal

This fix has also been submitted as a pull request.

If and when the pull requests are approved, the original repository will pick up those fixes. But until then, people using Roboclaw in ROS and encountering the same issues can clone my fork of it.