diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
index fcad530ca1..750aad2407 100644
--- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
+++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
@@ -224,11 +224,11 @@ class SteeringOdometry
   void integrate_fk(const double v_bx, const double omega_bz, const double dt);
 
   /**
-   * \brief Calculates steering angle from the desired translational and rotational velocity
+   * \brief Calculates steering angle from the desired twist
    * \param v_bx     Linear velocity of the robot in x_b-axis direction
    * \param omega_bz Angular velocity of the robot around x_z-axis
    */
-  double convert_trans_rot_vel_to_steering_angle(const double v_bx, const double omega_bz);
+  double convert_twist_to_steering_angle(const double v_bx, const double omega_bz);
 
   /**
    *  \brief Reset linear and angular accumulators
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
index 3afa391371..de1182132f 100644
--- a/steering_controllers_library/src/steering_odometry.cpp
+++ b/steering_controllers_library/src/steering_odometry.cpp
@@ -200,7 +200,7 @@ void SteeringOdometry::set_velocity_rolling_window_size(size_t velocity_rolling_
 
 void SteeringOdometry::set_odometry_type(const unsigned int type) { config_type_ = type; }
 
-double SteeringOdometry::convert_trans_rot_vel_to_steering_angle(double v_bx, double omega_bz)
+double SteeringOdometry::convert_twist_to_steering_angle(double v_bx, double omega_bz)
 {
   if (omega_bz == 0 || v_bx == 0)
   {
@@ -223,7 +223,7 @@ std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_comma
   }
   else
   {
-    phi = SteeringOdometry::convert_trans_rot_vel_to_steering_angle(v_bx, omega_bz);
+    phi = SteeringOdometry::convert_twist_to_steering_angle(v_bx, omega_bz);
     Ws = v_bx / (wheel_radius_ * std::cos(steer_pos_));
   }