From e31ffac08d8acc8d8757302304c179218a75010a Mon Sep 17 00:00:00 2001
From: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Date: Tue, 5 Feb 2019 13:40:27 +0900
Subject: [PATCH 1/3] enable to run on melodic

---
 include/create/serial.h | 3 ++-
 src/serial.cpp          | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/include/create/serial.h b/include/create/serial.h
index 9dd9bc3..28b5f69 100644
--- a/include/create/serial.h
+++ b/include/create/serial.h
@@ -40,13 +40,14 @@ POSSIBILITY OF SUCH DAMAGE.
 #include <boost/thread/condition_variable.hpp>
 #include <boost/function.hpp>
 #include <boost/shared_ptr.hpp>
+#include <boost/enable_shared_from_this.hpp>
 
 #include "create/data.h"
 #include "create/types.h"
 #include "create/util.h"
 
 namespace create {
-  class Serial {
+  class Serial : public boost::enable_shared_from_this<Serial> {
 
     protected:
       boost::asio::io_service io;
diff --git a/src/serial.cpp b/src/serial.cpp
index 3894b9e..12876aa 100644
--- a/src/serial.cpp
+++ b/src/serial.cpp
@@ -72,7 +72,7 @@ namespace create {
     // Start continuously reading one byte at a time
     boost::asio::async_read(port,
                             boost::asio::buffer(&byteRead, 1),
-                            boost::bind(&Serial::onData, this, _1, _2));
+                            boost::bind(&Serial::onData, shared_from_this(), _1, _2));
 
     ioThread = boost::thread(boost::bind(&boost::asio::io_service::run, &io));
 
@@ -145,7 +145,7 @@ namespace create {
     // Read the next byte
     boost::asio::async_read(port,
                             boost::asio::buffer(&byteRead, 1),
-                            boost::bind(&Serial::onData, this, _1, _2));
+                            boost::bind(&Serial::onData, shared_from_this(), _1, _2));
   }
 
   bool Serial::send(const uint8_t* bytes, unsigned int numBytes) {

From d2cc4b9552156de2a8d2229e4fe778af9ff8ca86 Mon Sep 17 00:00:00 2001
From: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Date: Thu, 7 Mar 2019 17:28:55 +0900
Subject: [PATCH 2/3] fix odom velocity

---
 src/create.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/create.cpp b/src/create.cpp
index 2e00cf1..947f62d 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -186,14 +186,10 @@ namespace create {
     totalLeftDist += leftWheelDist;
     totalRightDist += rightWheelDist;
 
-    if (fabs(dt) > util::EPS) {
+    if (dt > 0.1) {
       vel.x = deltaDist / dt;
       vel.y = 0.0;
       vel.yaw = deltaYaw / dt;
-    } else {
-      vel.x = 0.0;
-      vel.y = 0.0;
-      vel.yaw = 0.0;
     }
 
     // Update covariances

From 24bb9ebe7a40bd1e06307cd5bd723599371848d6 Mon Sep 17 00:00:00 2001
From: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Date: Sat, 9 Mar 2019 11:21:10 +0900
Subject: [PATCH 3/3] Revert "fix odom velocity"

This reverts commit d2cc4b9552156de2a8d2229e4fe778af9ff8ca86.
---
 src/create.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/create.cpp b/src/create.cpp
index 947f62d..2e00cf1 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -186,10 +186,14 @@ namespace create {
     totalLeftDist += leftWheelDist;
     totalRightDist += rightWheelDist;
 
-    if (dt > 0.1) {
+    if (fabs(dt) > util::EPS) {
       vel.x = deltaDist / dt;
       vel.y = 0.0;
       vel.yaw = deltaYaw / dt;
+    } else {
+      vel.x = 0.0;
+      vel.y = 0.0;
+      vel.yaw = 0.0;
     }
 
     // Update covariances