diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
index f7cdca092f..d4c4a63954 100644
--- a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
+++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -249,8 +249,8 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
   ControllerStateMsg msg;
   subscribe_and_get_messages(msg);
 
-  EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
-  EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
+  EXPECT_EQ(msg.traction_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
+  EXPECT_EQ(msg.traction_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
   EXPECT_EQ(msg.steering_angle_command[0], 2.2);
   EXPECT_EQ(msg.steering_angle_command[1], 4.4);
 
@@ -279,9 +279,8 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
 
   // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
-    msg.linear_velocity_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
-  EXPECT_NEAR(
-    msg.linear_velocity_command[CMD_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
+    msg.traction_command[CMD_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
+  EXPECT_NEAR(msg.traction_command[CMD_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
   EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
   EXPECT_NEAR(msg.steering_angle_command[1], 1.4179821977774734, COMMON_THRESHOLD);
 }
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
index 23103f7974..a811094037 100644
--- a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
+++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -234,7 +234,7 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status
   ControllerStateMsg msg;
   subscribe_and_get_messages(msg);
 
-  EXPECT_EQ(msg.linear_velocity_command[0], 1.1);
+  EXPECT_EQ(msg.traction_command[0], 1.1);
   EXPECT_EQ(msg.steering_angle_command[0], 2.2);
 
   publish_commands(0.1, 0.2);
@@ -252,7 +252,7 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status
 
   subscribe_and_get_messages(msg);
 
-  EXPECT_NEAR(msg.linear_velocity_command[0], 0.1 / 0.45, COMMON_THRESHOLD);
+  EXPECT_NEAR(msg.traction_command[0], 0.1 / 0.45, COMMON_THRESHOLD);
   EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
 }
 
diff --git a/steering_controllers_library/doc/userdoc.rst b/steering_controllers_library/doc/userdoc.rst
index 487cf94bb9..1aac29d543 100644
--- a/steering_controllers_library/doc/userdoc.rst
+++ b/steering_controllers_library/doc/userdoc.rst
@@ -64,7 +64,7 @@ Command interfaces
 ,,,,,,,,,,,,,,,,,,,
 
 - ``<steering_joints_names[i]>/position``     double, in rad
-- ``<traction_joints_names[i]>/velocity``      double, in m/s
+- ``<traction_joints_names[i]>/velocity``      double, in rad/s
 
 State interfaces
 ,,,,,,,,,,,,,,,,,
@@ -77,7 +77,7 @@ Depending on the ``position_feedback``, different feedback types are expected
 With the following state interfaces:
 
 - ``<steering_joints_names[i]>/position``                  double, in rad
-- ``<traction_joints_names[i]>/<TRACTION_FEEDBACK_TYPE>``   double, in m or m/s
+- ``<traction_joints_names[i]>/<TRACTION_FEEDBACK_TYPE>``   double, in rad or rad/s
 
 Subscribers
 ,,,,,,,,,,,,
diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp
index f34b3a78e0..a043329525 100644
--- a/steering_controllers_library/src/steering_controllers_library.cpp
+++ b/steering_controllers_library/src/steering_controllers_library.cpp
@@ -617,7 +617,7 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
     controller_state_publisher_->msg_.header.stamp = time;
     controller_state_publisher_->msg_.traction_wheels_position.clear();
     controller_state_publisher_->msg_.traction_wheels_velocity.clear();
-    controller_state_publisher_->msg_.linear_velocity_command.clear();
+    controller_state_publisher_->msg_.traction_command.clear();
     controller_state_publisher_->msg_.steer_positions.clear();
     controller_state_publisher_->msg_.steering_angle_command.clear();
 
@@ -636,7 +636,7 @@ controller_interface::return_type SteeringControllersLibrary::update_and_write_c
         controller_state_publisher_->msg_.traction_wheels_velocity.push_back(
           state_interfaces_[i].get_value());
       }
-      controller_state_publisher_->msg_.linear_velocity_command.push_back(
+      controller_state_publisher_->msg_.traction_command.push_back(
         command_interfaces_[i].get_value());
     }
 
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
index 4f9b53e31f..02f52f16b5 100644
--- a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
+++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
@@ -235,8 +235,8 @@ TEST_F(TricycleSteeringControllerTest, receive_message_and_publish_updated_statu
   ControllerStateMsg msg;
   subscribe_and_get_messages(msg);
 
-  EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
-  EXPECT_EQ(msg.linear_velocity_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
+  EXPECT_EQ(msg.traction_command[STATE_TRACTION_RIGHT_WHEEL], 1.1);
+  EXPECT_EQ(msg.traction_command[STATE_TRACTION_LEFT_WHEEL], 3.3);
   EXPECT_EQ(msg.steering_angle_command[0], 2.2);
 
   publish_commands();
@@ -261,9 +261,9 @@ TEST_F(TricycleSteeringControllerTest, receive_message_and_publish_updated_statu
 
   // we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
   EXPECT_NEAR(
-    msg.linear_velocity_command[STATE_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
+    msg.traction_command[STATE_TRACTION_RIGHT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
   EXPECT_NEAR(
-    msg.linear_velocity_command[STATE_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
+    msg.traction_command[STATE_TRACTION_LEFT_WHEEL], 0.22222222222222224, COMMON_THRESHOLD);
   EXPECT_NEAR(msg.steering_angle_command[0], 1.4179821977774734, COMMON_THRESHOLD);
 }