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bugfix negative velocities in diff drive odom messages fixed #1462

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bugfix negative velocities in diff drive odom messages fixed #1462

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2 changes: 1 addition & 1 deletion gazebo_plugins/src/gazebo_ros_diff_drive.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -580,7 +580,7 @@ void GazeboRosDiffDrivePrivate::UpdateOdometryEncoder(const gazebo::common::Time
pose_encoder_.theta += dtheta;

double w = dtheta / seconds_since_last_update;
double v = sqrt(dx * dx + dy * dy) / seconds_since_last_update;
double v = sqrt(dx * dx + dy * dy) / seconds_since_last_update * ((ssum > 0) ? +1.0 : -1.0);

tf2::Quaternion qt;
tf2::Vector3 vt;
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