diff --git a/diff_drive_controller/src/odometry.cpp b/diff_drive_controller/src/odometry.cpp
index bd718718fe..99bb22890d 100644
--- a/diff_drive_controller/src/odometry.cpp
+++ b/diff_drive_controller/src/odometry.cpp
@@ -78,7 +78,7 @@ bool Odometry::updateFromVelocity(double left_vel, double right_vel, const rclcp
   // Compute linear and angular diff:
   const double linear = (left_vel + right_vel) * 0.5;
   // Now there is a bug about scout angular velocity
-  const double angular = (left_vel - right_vel) / wheel_separation_;
+  const double angular = (right_vel - left_vel) / wheel_separation_;
 
   // Integrate odometry:
   integrateExact(linear, angular);