From 459a916c821db21512e6f5a798f7db4bedbd592c Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Wed, 15 Jan 2025 13:48:25 +0100
Subject: [PATCH] update

---
 nodes/odom_publisher.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nodes/odom_publisher.cpp b/nodes/odom_publisher.cpp
index ca8c7bc..16e13d1 100644
--- a/nodes/odom_publisher.cpp
+++ b/nodes/odom_publisher.cpp
@@ -42,8 +42,8 @@ int main(int argc, char** argv) {
 
     // Compute odometry based on subscribed velocity data
     double dt = (current_time - last_time).toSec();
-    double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
-    double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
+    double delta_x = (vx * cos(th)) * dt;
+    double delta_y = (vx * sin(th)) * dt;
     double delta_th = vth * dt;
 
     x += delta_x;