   if (buttons & (1<<0))  
   {
     move[LINEAR] = true;
-    saved_tick[RIGHT] = sensor_state_msg.right_encoder;
+    saved_tick[RIGHT] = current_tick[RIGHT];
 
     diff_encoder = TEST_DISTANCE / (0.207 / 4096); // (Circumference of Wheel) / (The number of tick per revolution)
   }
   else if (buttons & (1<<1))
   {
     move[ANGULAR] = true;
-    saved_tick[RIGHT] = sensor_state_msg.right_encoder;
+    saved_tick[RIGHT] = current_tick[RIGHT];
 
     diff_encoder = (TEST_RADIAN * TURNING_RADIUS) / (0.207 / 4096);
   }

{
  DEBUG_SERIAL.println("---------------------------------------");
  DEBUG_SERIAL.println("EXTERNAL SENSORS");
  DEBUG_SERIAL.println("---------------------------------------\n");
  DEBUG_SERIAL.println("bumper : ");
  DEBUG_SERIAL.println("cliff : ");
  DEBUG_SERIAL.println("sonar : ");
  DEBUG_SERIAL.println("illumination : ");
  DEBUG_SERIAL.println("led : ");

  DEBUG_SERIAL.println("---------------------------------------");
  DEBUG_SERIAL.println("OpenCR SENSORS");
  DEBUG_SERIAL.println("---------------------------------------\n");
  DEBUG_SERIAL.println("battery : ");
  DEBUG_SERIAL.println("button : ");
  DEBUG_SERIAL.println("imu : ");
  
  DEBUG_SERIAL.println("---------------------------------------");
  DEBUG_SERIAL.println("DYNAMIXELS");
  DEBUG_SERIAL.println("---------------------------------------\n");
  DEBUG_SERIAL.println("torque : ");
  DEBUG_SERIAL.println("left_encoder : ");
  DEBUG_SERIAL.println("right_encoder : ");

  DEBUG_SERIAL.println("---------------------------------------");
  DEBUG_SERIAL.println("TurtleBot3");
  DEBUG_SERIAL.println("---------------------------------------\n");
  DEBUG_SERIAL.println("odometry : ");    

  // Serial.println("   id : " + String(scanned_id[i]) + "   Model Name : " + String(dxl_wb.getModelName(scanned_id[i])));
}
    tTime[4] = t;
  }

#ifdef DEBUG
  if ((t-tTime[5]) >= (1000 / DEBUG_LOG_FREQUENCY))
  {
    sendDebuglog();
    tTime[5] = t;
  }
#endif

  // Send log message after ROS connection
  sendLogMsg();

