Add apis for getting the measured velocities of the wheels

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;
   }