diff --git a/src/create.cpp b/src/create.cpp
index 98603e4..281b3c6 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -66,7 +66,7 @@ namespace create {
     float dt = (curTime - prevOnDataTime) / 1000000.0;
     float deltaDist, deltaX, deltaY, deltaYaw;
     if (model == CREATE_1) {
-      deltaDist = GET_DATA(ID_DISTANCE);
+      deltaDist = GET_DATA(ID_DISTANCE) / 1000.0; //mm -> m
       deltaYaw = GET_DATA(ID_ANGLE) * util::PI / 180.0; // D2R
       deltaX = deltaDist * cos(pose.yaw);
       deltaY = deltaDist * sin(pose.yaw);
diff --git a/src/data.cpp b/src/data.cpp
index e17e803..28354a5 100644
--- a/src/data.cpp
+++ b/src/data.cpp
@@ -28,10 +28,8 @@ namespace create {
     if (model == CREATE_1) {
       ADD_PACKET(ID_DISTANCE, 2, "distance");
       ADD_PACKET(ID_ANGLE, 2, "angle");
-      std::cout << "Adding Create 1 packets" << std::endl;
     }
     else if (model == CREATE_2) {
-      std::cout << "Adding Create 2 packets" << std::endl;
       //ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
       //ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents");
       ADD_PACKET(ID_DIRT_DETECT, 1, "dirt_detect");