diff --git a/steering_controllers_library/doc/userdoc.rst b/steering_controllers_library/doc/userdoc.rst
index b051bb6420..0cd5840a4a 100644
--- a/steering_controllers_library/doc/userdoc.rst
+++ b/steering_controllers_library/doc/userdoc.rst
@@ -66,11 +66,11 @@ Command interfaces
 If parameter ``front_steering == true``
 
 - ``<front_wheels_names[i]>/position``     double, in rad
-- ``<rear_wheels_names[i]>/velocity``      double, in m/s
+- ``<rear_wheels_names[i]>/velocity``      double, in rad/s
 
 If parameter ``front_steering == false``
 
-- ``<front_wheels_names[i]>/velocity``     double, in m/s
+- ``<front_wheels_names[i]>/velocity``     double, in rad/s
 - ``<rear_wheels_names[i]>/position``      double, in rad
 
 State interfaces
@@ -84,11 +84,11 @@ Depending on the ``position_feedback``, different feedback types are expected
 If parameter ``front_steering == true``
 
 - ``<front_wheels_names[i]>/position``                  double, in rad
-- ``<rear_wheels_names[i]>/<TRACTION_FEEDBACK_TYPE>``   double, in m or m/s
+- ``<rear_wheels_names[i]>/<TRACTION_FEEDBACK_TYPE>``   double, in rad or rad/s
 
 If parameter ``front_steering == false``
 
-- ``<front_wheels_names[i]>/<TRACTION_FEEDBACK_TYPE>``  double, in m or m/s
+- ``<front_wheels_names[i]>/<TRACTION_FEEDBACK_TYPE>``  double, in rad or rad/s
 - ``<rear_wheels_names[i]>/position``                   double, in rad
 
 Subscribers