diff --git a/src/ros2aria/src/wheels.cpp b/src/ros2aria/src/wheels.cpp
index b181295..5862eaf 100644
--- a/src/ros2aria/src/wheels.cpp
+++ b/src/ros2aria/src/wheels.cpp
@@ -17,10 +17,10 @@ sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp)
     wheels.name[0] = "left_wheel_joint";
     wheels.name[1] =  "right_wheel_joint";
 
-    wheels.position[0] = encoder_to_rad(r->getLeftEncoder());
-    wheels.position[1] = encoder_to_rad(r->getRightEncoder());
-    wheels.velocity[0] = mm_per_sec_to_rad_per_sec(r->getLeftVel());
-    wheels.velocity[1] = mm_per_sec_to_rad_per_sec(r->getRightVel());
+    wheels.position[0] = r->getLeftEncoder();
+    wheels.position[1] = r->getRightEncoder();
+    wheels.velocity[0] = r->getLeftVel();
+    wheels.velocity[1] = r->getRightVel();
     return wheels;
 }