diff --git a/doc/index.rst b/doc/index.rst
index 22d75e48..84cbc7bb 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -398,13 +398,13 @@ When the Gazebo world is launched you can run the following command to move the
 
 .. code-block:: shell
 
-  ros2 run gz_ros2_control_demos example_mobile_robots
+  ros2 run gz_ros2_control_demos example_mobile_robots --ros-args -p use_sim_time:=true
 
 You can also drive the robots from the keyboard using the following command:
 
 .. code-block:: shell
 
-  ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true
+  ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true -p use_sim_time:=true
 
 You can also manually publish on the ``/cmd_vel`` topic to drive the robots:
 
diff --git a/gz_ros2_control_demos/config/tricycle_drive_controller.yaml b/gz_ros2_control_demos/config/tricycle_drive_controller.yaml
index ff90ad57..52add4e0 100644
--- a/gz_ros2_control_demos/config/tricycle_drive_controller.yaml
+++ b/gz_ros2_control_demos/config/tricycle_drive_controller.yaml
@@ -9,44 +9,40 @@ joint_state_broadcaster:
 
 tricycle_controller:
   ros__parameters:
-    type: tricycle_controller/TricycleController
+    type: tricycle_steering_controller/TricycleSteeringController
 
     # Model
-    traction_joint_name: traction_joint # Name of traction joint in URDF
-    steering_joint_name: steering_joint # Name of steering joint in URDF
-    wheel_radius: 0.3 # Radius of front wheel
+    traction_joints_names: ["traction_joint"] # Name of traction joint in URDF
+    steering_joints_names: ["steering_joint"] # Name of steering joint in URDF
+    traction_wheels_radius: 0.3 # Radius of front wheel
     wheelbase: 1.7 # Distance between center of back wheels and front wheel
 
+    # Rate Limiting
+    linear:
+      x:
+        max_acceleration: 5.0
+        max_deceleration: -8.0
+        max_jerk: 1000.0
+    angular:
+      z:
+        max_velocity: 1.0
+        max_acceleration: 5.0
+        max_deceleration: -8.0
+        max_jerk: 1000.0
+
     # Odometry
     odom_frame_id: odom
     base_frame_id: base_link
     open_loop: false # if True, uses cmd_vel instead of hardware interface feedback to compute odometry
     enable_odom_tf: true # If True, publishes odom<-base_link TF
-    odom_only_twist: false # If True, publishes on /odom only linear.x and angular.z; Useful for computing odometry in another node, e.g robot_localization's ekf
     pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
     twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
     velocity_rolling_window_size: 10 # Rolling window size of rcppmath::RollingMeanAccumulator applied on linear and angular speeds published on odom
 
-    # Rate Limiting
-    traction: # All values should be positive
-      # min_velocity: 0.0
-      # max_velocity: 1000.0
-      # min_acceleration: 0.0
-      max_acceleration: 5.0
-      # min_deceleration: 0.0
-      max_deceleration: 8.0
-      # min_jerk: 0.0
-      # max_jerk: 1000.0
-    steering:
-      min_position: -1.57
-      max_position: 1.57
-      # min_velocity: 0.0
-      max_velocity: 1.0
-      # min_acceleration: 0.0
-      # max_acceleration: 1000.0
+    reduce_wheel_speed_until_steering_reached: true # If true, limits wheel speed when steering angle is far from reference to avoid slipping.
 
     # cmd_vel input
-    cmd_vel_timeout: 500 # In milliseconds. Timeout to stop if no cmd_vel is received
+    reference_timeout: 0.5 # In seconds. Timeout to stop if no cmd_vel is received
 
-    # Debug
-    publish_ackermann_command: true # Publishes AckermannDrive. The speed does not comply to the msg definition, it the wheel angular speed in rad/s.
+    # debug
+    publish_limited_velocity: true
diff --git a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
index 99d194f1..46b6e592 100644
--- a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
+++ b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
@@ -79,7 +79,7 @@ def generate_launch_description():
             '--param-file',
             robot_controllers,
             '--controller-ros-args',
-            '-r /tricycle_controller/cmd_vel:=/cmd_vel'
+            '-r /tricycle_controller/reference:=/cmd_vel'
         ],
     )
 
diff --git a/gz_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf b/gz_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf
index c0971c1a..e92ee008 100644
--- a/gz_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf
+++ b/gz_ros2_control_demos/urdf/test_tricycle_drive.xacro.urdf
@@ -121,6 +121,7 @@
     <parent link="chassis" />
     <child link="steering_link" />
     <axis xyz="0 0 1" />
+    <limit effort="100" velocity="1" lower="-1.57" upper="1.57" />
   </joint>
 
   <!-- traction wheel link -->
@@ -148,6 +149,7 @@
     <child link="wheel_front_link" />
     <origin xyz="0 0 0" rpy="-1.57 1.57 0" />
     <axis xyz="0 0 1" />
+    <limit effort="100" velocity="1"/>
   </joint>
 
   <ros2_control name="GazeboSystem" type="system">