diff --git a/tricycle_controller/doc/userdoc.rst b/tricycle_controller/doc/userdoc.rst
index 991627eca2..30973762fd 100644
--- a/tricycle_controller/doc/userdoc.rst
+++ b/tricycle_controller/doc/userdoc.rst
@@ -10,14 +10,6 @@ Controller for mobile robots with a single double-actuated wheel, including trac
 Input for control are robot base_link twist commands which are translated to traction and steering
 commands for the tricycle drive base. Odometry is computed from hardware feedback and published.
 
-Velocity commands
------------------
-
-The controller works with a velocity twist from which it extracts
-the x component of the linear velocity and the z component of the angular velocity.
-Velocities on other components are ignored.
-
-
 Other features
 --------------
 
@@ -26,6 +18,16 @@ Other features
     Velocity, acceleration and jerk limits
     Automatic stop after command timeout
 
+ROS 2 Interfaces
+------------------------
+
+Subscribers
+,,,,,,,,,,,,
+
+~/cmd_vel [geometry_msgs/msg/TwistStamped]
+  Velocity command for the controller. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
+
+
 Parameters
 --------------
 
diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
index 07be8c2aae..5586b87efc 100644
--- a/tricycle_controller/src/tricycle_controller.cpp
+++ b/tricycle_controller/src/tricycle_controller.cpp
@@ -316,6 +316,9 @@ CallbackReturn TricycleController::on_configure(const rclcpp_lifecycle::State &
   }
   else
   {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "[Deprecated] Using geometry_msgs::msg::Twist instead of TwistStamped is deprecated.");
     velocity_command_unstamped_subscriber_ = get_node()->create_subscription<Twist>(
       DEFAULT_COMMAND_TOPIC, rclcpp::SystemDefaultsQoS(),
       [this](const std::shared_ptr<Twist> msg) -> void
diff --git a/tricycle_controller/src/tricycle_controller_parameter.yaml b/tricycle_controller/src/tricycle_controller_parameter.yaml
index 68fc2202c2..951c159510 100644
--- a/tricycle_controller/src/tricycle_controller_parameter.yaml
+++ b/tricycle_controller/src/tricycle_controller_parameter.yaml
@@ -81,7 +81,7 @@ tricycle_controller:
   use_stamped_vel: {
     type: bool,
     default_value: true,
-    description: "Use stamp from input velocity message to calculate how old the command actually is.",
+    description: "(deprecated) Use stamp from input velocity message to calculate how old the command actually is.",
   }
   traction:
     # "The positive limit will be applied to both directions. Setting different limits for positive "
diff --git a/tricycle_controller/test/config/test_tricycle_controller.yaml b/tricycle_controller/test/config/test_tricycle_controller.yaml
index efecfe968f..4cef3ee131 100644
--- a/tricycle_controller/test/config/test_tricycle_controller.yaml
+++ b/tricycle_controller/test/config/test_tricycle_controller.yaml
@@ -5,7 +5,6 @@ test_tricycle_controller:
     steering_joint_name: steering_joint
     wheel_radius: 0.125
     wheelbase: 1.252
-    use_stamped_vel: false
     enable_odom_tf: false
     use_sim_time: false
     pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]