From b0e8259510d5fa24149395a3341377650547899c Mon Sep 17 00:00:00 2001
From: Ben Wolsieffer <benwolsieffer@gmail.com>
Date: Fri, 24 Jun 2016 17:46:20 -0400
Subject: [PATCH] Fix odometry inversion for Create 1.

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

diff --git a/src/create.cpp b/src/create.cpp
index f2c7468..b3d7f0e 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -103,7 +103,7 @@ namespace create {
       deltaDist = ((int16_t) GET_DATA(ID_DISTANCE)) / 1000.0; //mm -> m
       deltaYaw = ((int16_t) GET_DATA(ID_ANGLE)) * (util::PI / 180.0); // D2R
       deltaX = deltaDist * cos( util::normalizeAngle(pose.yaw + deltaYaw) );
-      deltaY = -deltaDist * sin( util::normalizeAngle(pose.yaw + deltaYaw) );
+      deltaY = deltaDist * sin( util::normalizeAngle(pose.yaw + deltaYaw) );
       leftWheelDist = deltaDist / 2.0;
       rightWheelDist = leftWheelDist;