From 44252a1d69c7de87926f88b173cfe12c3d43dd42 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 3 Jan 2025 15:11:15 +0000
Subject: [PATCH] Keep old tricycle parameters

---
 .../src/tricycle_steering_controller.cpp                  | 8 ++++----
 .../src/tricycle_steering_controller.yaml                 | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.cpp b/tricycle_steering_controller/src/tricycle_steering_controller.cpp
index 9ba2e2e8ac..e830b9ffad 100644
--- a/tricycle_steering_controller/src/tricycle_steering_controller.cpp
+++ b/tricycle_steering_controller/src/tricycle_steering_controller.cpp
@@ -30,20 +30,20 @@ controller_interface::CallbackReturn TricycleSteeringController::configure_odome
 {
   tricycle_params_ = tricycle_param_listener_->get_params();
 
-  if (tricycle_params_.front_wheel_radius > 0.0)
+  if (tricycle_params_.front_wheels_radius > 0.0)
   {
     RCLCPP_WARN(
       get_node()->get_logger(),
       "DEPRECATED parameter 'front_wheel_radius', set 'traction_wheels_radius' instead");
-    tricycle_params_.traction_wheels_radius = tricycle_params_.front_wheel_radius;
+    tricycle_params_.traction_wheels_radius = tricycle_params_.front_wheels_radius;
   }
 
-  if (tricycle_params_.rear_wheel_radius > 0.0)
+  if (tricycle_params_.rear_wheels_radius > 0.0)
   {
     RCLCPP_WARN(
       get_node()->get_logger(),
       "DEPRECATED parameter 'rear_wheel_radius', set 'traction_wheels_radius' instead");
-    tricycle_params_.traction_wheels_radius = tricycle_params_.rear_wheel_radius;
+    tricycle_params_.traction_wheels_radius = tricycle_params_.rear_wheels_radius;
   }
 
   const double traction_wheels_radius = tricycle_params_.traction_wheels_radius;
diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.yaml b/tricycle_steering_controller/src/tricycle_steering_controller.yaml
index dd9fb44f8c..1f2ed4dce2 100644
--- a/tricycle_steering_controller/src/tricycle_steering_controller.yaml
+++ b/tricycle_steering_controller/src/tricycle_steering_controller.yaml
@@ -33,7 +33,7 @@ tricycle_steering_controller:
       # }
     }
 
-  front_wheel_radius:
+  front_wheels_radius:
     {
       type: double,
       default_value: 0.0,
@@ -41,7 +41,7 @@ tricycle_steering_controller:
       read_only: false,
     }
 
-  rear_wheel_radius:
+  rear_wheels_radius:
     {
       type: double,
       default_value: 0.0,