diff --git a/include/create/create.h b/include/create/create.h
index 4e03b61..14ede01 100644
--- a/include/create/create.h
+++ b/include/create/create.h
@@ -34,6 +34,7 @@ POSSIBILITY OF SUCH DAMAGE.
 
 #include <boost/shared_ptr.hpp>
 #include <boost/numeric/ublas/matrix.hpp>
+#include <chrono>
 #include <string>
 #include <unistd.h>
 
@@ -79,7 +80,7 @@ namespace create {
       float totalLeftDist;
       float totalRightDist;
       bool firstOnData;
-      util::timestamp_t prevOnDataTime;
+      std::chrono::time_point<std::chrono::system_clock> prevOnDataTime;
 
       Matrix poseCovar;
 
diff --git a/include/create/util.h b/include/create/util.h
index 6a28f06..3d4d8c5 100644
--- a/include/create/util.h
+++ b/include/create/util.h
@@ -32,8 +32,6 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_UTIL_H
 #define CREATE_UTIL_H
 
-#include <sys/time.h>
-
 #define COUT(prefix,msg) (std::cout<<prefix<<msg<<std::endl)
 #define CERR(prefix,msg) (std::cerr<<prefix<<msg<<std::endl)
 
@@ -57,16 +55,6 @@ namespace create {
       return a;
     }
 
-    typedef unsigned long long timestamp_t;
-
-    /** Get a timestamp for the current time in micro-seconds.
-     */
-    inline timestamp_t getTimestamp() {
-      struct timeval now;
-      gettimeofday(&now, NULL);
-      return now.tv_usec + (timestamp_t) now.tv_sec * 1000000;
-    }
-
     inline bool willFloatOverflow(const float a, const float b) {
       return ( (a < 0.0) == (b < 0.0) && std::abs(b) > std::numeric_limits<float>::max() - std::abs(a) );
     }
diff --git a/src/create.cpp b/src/create.cpp
index c023c8a..10846e5 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -94,13 +94,13 @@ namespace create {
         prevTicksLeft = GET_DATA(ID_LEFT_ENC);
         prevTicksRight = GET_DATA(ID_RIGHT_ENC);
       }
-      prevOnDataTime = util::getTimestamp();
+      prevOnDataTime = std::chrono::system_clock::now();
       firstOnData = false;
     }
 
     // Get current time
-    util::timestamp_t curTime = util::getTimestamp();
-    float dt = (curTime - prevOnDataTime) / 1000000.0;
+    auto curTime = std::chrono::system_clock::now();
+    float dt = static_cast<std::chrono::duration<float>>(curTime - prevOnDataTime).count();
     float deltaDist, deltaX, deltaY, deltaYaw, leftWheelDist, rightWheelDist, wheelDistDiff;
 
     // Protocol versions 1 and 2 use distance and angle fields for odometry