From 304fd54e0d925c9ba63a351588d7d54ba5d90561 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacobmperron@gmail.com>
Date: Wed, 20 Apr 2016 12:09:11 -0700
Subject: [PATCH] Make velocity relative to base frame, not odometry frame

---
 src/create.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/create.cpp b/src/create.cpp
index 5b9ada8..f2c7468 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -150,8 +150,8 @@ namespace create {
     } // if CREATE_2
 
     if (fabs(dt) > util::EPS) {
-      vel.x = deltaX / dt;
-      vel.y = deltaY / dt;
+      vel.x = deltaDist / dt;
+      vel.y = 0.0;
       vel.yaw = deltaYaw / dt;
     }
     else {