   DEBUG_SERIAL.println("---------------------------------------");
   DEBUG_SERIAL.println("TurtleBot3");
   DEBUG_SERIAL.println("---------------------------------------");
-  DEBUG_SERIAL.println("Odometry : ");   
+  DEBUG_SERIAL.println("Odometry : ");
   DEBUG_SERIAL.print("         x : "); DEBUG_SERIAL.println(odom_pose[0]);
   DEBUG_SERIAL.print("         y : "); DEBUG_SERIAL.println(odom_pose[1]);
   DEBUG_SERIAL.print("     theta : "); DEBUG_SERIAL.println(odom_pose[2]);


  motor_driver.readEncoder(current_tick[LEFT], current_tick[RIGHT]);

  if (buttons & (1<<0))  
  {
    move[LINEAR] = true;
    saved_tick[RIGHT] = current_tick[RIGHT];

  initOdom();

  sprintf(log_msg, "Reset Odometry");
  nh.loginfo(log_msg);
}

/*******************************************************************************
