diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp
index 40db3dbfc4..5880000d17 100644
--- a/steering_controllers_library/src/steering_controllers_library.cpp
+++ b/steering_controllers_library/src/steering_controllers_library.cpp
@@ -114,9 +114,6 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_configure(
 
   // Reference Subscriber
   ref_timeout_ = rclcpp::Duration::from_seconds(params_.reference_timeout);
-  RCLCPP_WARN(
-    get_node()->get_logger(),
-    "[Deprecated] Using geometry_msgs::msg::Twist instead of TwistStamped is deprecated.");
   ref_subscriber_twist_ = get_node()->create_subscription<ControllerTwistReferenceMsg>(
     "~/reference", subscribers_qos,
     std::bind(&SteeringControllersLibrary::reference_callback, this, std::placeholders::_1));