Changed the sign of the yaw topìc to coincide with the ral robot.

seat_car_controller/include/seat_car_controller_impl.h

@@ -350,6 +350,10 @@ namespace seat_car_controller
       twist_msg.linear.x=-((drive_r_l_vel-drive_r_r_vel)*5.5)/2.0;
       twist_msg.linear.y=0.0;
       twist_msg.linear.z=0.0;
+      twist_msg.angular.x=0.0;
+      twist_msg.angular.y=0.0;
+      twist_msg.angular.z=0.0;
+
       this->twist_pub.publish(twist_msg);
 
       servo_angle=-4.0*steer_angle+3.14159/2.0;
@@ -435,7 +439,7 @@ namespace seat_car_controller
       std_msgs::Float32 yaw_msg;
  
       this->heading=tf::getYaw(msg->orientation);
-      yaw_msg.data=this->heading;
+      yaw_msg.data=-this->heading*180.0/3.14159;
       this->yaw_pub.publish(yaw_msg); 
     }