From 055cf859bf37620f54af23c97a916c74293013b1 Mon Sep 17 00:00:00 2001
From: jacobperron <jacobmperron@gmail.com>
Date: Thu, 31 Mar 2016 22:14:56 -0700
Subject: [PATCH] Fix odom angle sign error

---
 src/create.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/create.cpp b/src/create.cpp
index 4612aa9..e77a560 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -67,7 +67,7 @@ namespace create {
     float deltaDist, deltaX, deltaY, deltaYaw;
     if (model == CREATE_1) {
       deltaDist = GET_DATA(ID_DISTANCE) / 1000.0; //mm -> m
-      deltaYaw = GET_DATA(ID_ANGLE) * util::PI / 180.0; // D2R
+      deltaYaw = ((int16_t) GET_DATA(ID_ANGLE)) * (util::PI / 180.0); // D2R
       deltaX = deltaDist * cos(pose.yaw);
       deltaY = deltaDist * sin(pose.yaw);
     }