diff --git a/steering_controllers_library/src/steering_controllers_library.yaml b/steering_controllers_library/src/steering_controllers_library.yaml
index 68fc66890c..cfb84eaa96 100644
--- a/steering_controllers_library/src/steering_controllers_library.yaml
+++ b/steering_controllers_library/src/steering_controllers_library.yaml
@@ -4,6 +4,7 @@ steering_controllers_library:
     default_value: 1.0,
     description: "Timeout for controller references after which they will be reset. This is especially useful for controllers that can cause unwanted and dangerous behavior if reference is not reset, e.g., velocity controllers. If value is 0 the reference is reset after each run.",
   }
+
   front_steering: {
     type: bool,
     read_only: true,
@@ -11,23 +12,20 @@ steering_controllers_library:
     description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names' instead"
   }
 
-  front_wheels_names: {
-    type: string_array,
-    read_only: true,
-    default_value: [],
-    description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names'"
-  }
-
   rear_wheels_names: {
     type: string_array,
+    description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names'",
     read_only: true,
     default_value: [],
-    description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names'"
+    validation: {
+      size_lt<>: [5],
+      unique<>: null,
+    }
   }
 
   traction_joints_names: {
     type: string_array,
-    description: "Names of wheel joints.",
+    description: "Names of traction wheel joints.",
     default_value: [],
     read_only: true,
     validation: {
@@ -38,6 +36,17 @@ steering_controllers_library:
     }
   }
 
+  front_wheels_names: {
+    type: string_array,
+    description: "DEPRECATED: Use 'traction_joint_names' or 'steering_joint_names'",
+    read_only: true,
+    default_value: [],
+    validation: {
+      size_lt<>: [5],
+      unique<>: null,
+    }
+  }
+
   steering_joints_names: {
     type: string_array,
     description: "Names of steering joints.",