diff --git a/include/create/create.h b/include/create/create.h
index e4662f8..cf51442 100644
--- a/include/create/create.h
+++ b/include/create/create.h
@@ -83,6 +83,8 @@ namespace create {
 
       Matrix poseCovar;
 
+      float measuredLeftVel;
+      float measuredRightVel;
       float requestedLeftVel;
       float requestedRightVel;
 
@@ -560,6 +562,18 @@ namespace create {
        */
       float getRightWheelDistance() const;
 
+      /**
+       * \brief Get the measured velocity of the left wheel.
+       * \return velocity in m/s
+       */
+      float getMeasuredLeftWheelVel() const;
+
+      /**
+       * \brief Get the measured velocity of the right wheel.
+       * \return velocity in m/s
+       */
+      float getMeasuredRightWheelVel() const;
+
       /**
        * \brief Get the requested velocity of the left wheel.
        * This value is bounded at the maximum velocity of the robot model.
diff --git a/src/create.cpp b/src/create.cpp
index 950c33e..2e00cf1 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -170,6 +170,9 @@ namespace create {
       deltaYaw = wheelDistDiff / model.getAxleLength();
     }
 
+    measuredLeftVel = leftWheelDist / dt;
+    measuredRightVel = rightWheelDist / dt;
+
     // Moving straight
     if (fabs(wheelDistDiff) < util::EPS) {
       deltaX = deltaDist * cos(pose.yaw);
@@ -975,6 +978,14 @@ namespace create {
     return totalRightDist;
   }
 
+  float Create::getMeasuredLeftWheelVel() const {
+    return measuredLeftVel;
+  }
+
+  float Create::getMeasuredRightWheelVel() const {
+    return measuredRightVel;
+  }
+
   float Create::getRequestedLeftWheelVel() const {
     return requestedLeftVel;
   }