diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
index ef5454a16c..38cca0cac9 100644
--- a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
+++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -84,7 +84,7 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[1] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
index 49331ae8a2..363db793d5 100644
--- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
+++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -302,7 +302,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 4> joint_state_values_ = {0.5, 0.5, 0.0, 0.0};
   std::array<double, 4> joint_command_values_ = {1.1, 3.3, 2.2, 4.4};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
index 3dcdc0b1db..fd8565853f 100644
--- a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
+++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -68,7 +68,7 @@ TEST_F(BicycleSteeringControllerTest, check_exported_interfaces)
     controller_->front_wheels_state_names_[0] + "/" + steering_interface_name_);
   EXPECT_EQ(state_if_conf.type, controller_interface::interface_configuration_type::INDIVIDUAL);
 
-  // check ref itfsTIME
+  // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
   ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
   for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
index 390447c25f..dcdb7ed169 100644
--- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
+++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -266,7 +266,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 2> joint_state_values_ = {3.3, 0.5};
   std::array<double, 2> joint_command_values_ = {1.1, 2.2};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
 
   // defined in setup
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
index 1807ab59a8..b4d58a95c0 100644
--- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
+++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -285,7 +285,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 3> joint_state_values_ = {0.5, 0.5, 0.0};
   std::array<double, 3> joint_command_values_ = {1.1, 3.3, 2.2};
-  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/position"};
+  std::array<std::string, 2> joint_reference_interfaces_ = {"linear/velocity", "angular/velocity"};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";