diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
index 45323c3f82..e07b988dd4 100644
--- a/steering_controllers_library/src/steering_odometry.cpp
+++ b/steering_controllers_library/src/steering_odometry.cpp
@@ -295,20 +295,20 @@ void SteeringOdometry::integrate_runge_kutta_2(
   const double v_bx, const double omega_bz, const double dt)
 {
   // Compute intermediate value of the heading
-  const double Theta_mid = heading_ + omega_bz * 0.5 * dt;
+  const double theta_mid = heading_ + omega_bz * 0.5 * dt;
 
   // Use the intermediate values to update the state
-  x_ += v_bx * cos(Theta_mid) * dt;
-  y_ += v_bx * sin(Theta_mid) * dt;
+  x_ += v_bx * cos(theta_mid) * dt;
+  y_ += v_bx * sin(theta_mid) * dt;
   heading_ += omega_bz * dt;
 }
 
 void SteeringOdometry::integrate_fk(const double v_bx, const double omega_bz, const double dt)
 {
   const double delta_x_b = v_bx * dt;
-  const double delta_Theta = omega_bz * dt;
+  const double delta_theta = omega_bz * dt;
 
-  if (fabs(delta_Theta) < 1e-6)
+  if (fabs(delta_theta) < 1e-6)
   {
     /// Runge-Kutta 2nd Order (should solve problems when omega_bz is zero):
     integrate_runge_kutta_2(v_bx, omega_bz, dt);
@@ -317,8 +317,8 @@ void SteeringOdometry::integrate_fk(const double v_bx, const double omega_bz, co
   {
     /// Exact integration
     const double heading_old = heading_;
-    const double R = delta_x_b / delta_Theta;
-    heading_ += delta_Theta;
+    const double R = delta_x_b / delta_theta;
+    heading_ += delta_theta;
     x_ += R * (sin(heading_) - sin(heading_old));
     y_ += -R * (cos(heading_) - cos(heading_old));
   }