diff --git a/diffbot_base/include/diffbot_base/diffbot_hw_interface.h b/diffbot_base/include/diffbot_base/diffbot_hw_interface.h
index 6dd90b8e..2f1536c9 100644
--- a/diffbot_base/include/diffbot_base/diffbot_hw_interface.h
+++ b/diffbot_base/include/diffbot_base/diffbot_hw_interface.h
@@ -181,4 +181,4 @@ namespace diffbot_base
 
 }  // namespace
 
-#endif // DIFFBOT_HW_INTERFACE_H
\ No newline at end of file
+#endif // DIFFBOT_HW_INTERFACE_H
diff --git a/diffbot_base/src/diffbot_hw_interface.cpp b/diffbot_base/src/diffbot_hw_interface.cpp
index 7afcd058..2b8ad0fd 100644
--- a/diffbot_base/src/diffbot_hw_interface.cpp
+++ b/diffbot_base/src/diffbot_hw_interface.cpp
@@ -79,6 +79,10 @@ namespace diffbot_base
 
             joint_velocity_commands_[i] = 0.0;
 
+	    // Initialize encoder_ticks_ to zero because receiving meaningful
+	    // tick values from the microcontroller might take some time
+	    encoder_ticks_[i] = 0.0;
+
             // Initialize the pid controllers for the motors using the robot namespace
             std::string pid_namespace = "pid/" + motor_names[i];
             ROS_INFO_STREAM("pid namespace: " << pid_namespace);
@@ -311,4 +315,4 @@ namespace diffbot_base
         return angle * wheel_diameter_ / 2.0;
     }
 
-};
\ No newline at end of file
+};