diff --git a/src/processor_odom_2D.cpp b/src/processor_odom_2D.cpp
index 19818dffcc1aee098c316f1b13bf603703333c39..5041ae985c60770b0c8124f753bcc802574f88ee 100644
--- a/src/processor_odom_2D.cpp
+++ b/src/processor_odom_2D.cpp
@@ -21,7 +21,7 @@ void ProcessorOdom2D::computeCurrentDelta(const Eigen::VectorXs& _data, const Ei
     assert(_data_cov.rows() == data_size_ && "Wrong _data_cov size");
     assert(_data_cov.cols() == data_size_ && "Wrong _data_cov size");
 
-    // data  is [dtheta, dr]
+    // data  is [dr, dtheta]
     // delta is [dx, dy, dtheta]
     // motion model is 1/2 turn + straight + 1/2 turn
     _delta(0) = cos(_data(1) / 2) * _data(0);