diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index 71e161ebb30e0c9dda2566dce54082db6533b06a..52160aa616d4a42471c0b7deaf58b89dbd62f08f 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -928,7 +928,7 @@ namespace darwin_controller
         gyro_x=500.0;
       else if(gyro_x<-500.0)
         gyro_x=-500.0;
-      gyro_data[0]=(int32_t)(gyro_x*1000.0);
+      gyro_data[0]=-(int32_t)(gyro_x*1000.0);
       gyro_y=msg->angular_velocity.z*180.0/3.14159;
       if(gyro_y>500.0)
         gyro_y=500.0;