diff --git a/diff_drive_controller/src/odometry.cpp b/diff_drive_controller/src/odometry.cpp
index d1fcc3fc65..77b3cff6fa 100644
--- a/diff_drive_controller/src/odometry.cpp
+++ b/diff_drive_controller/src/odometry.cpp
@@ -68,7 +68,11 @@ bool Odometry::update(double left_pos, double right_pos, const rclcpp::Time & ti
   left_wheel_old_pos_ = left_wheel_cur_pos;
   right_wheel_old_pos_ = right_wheel_cur_pos;
 
+// Disable deprecated warnings
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   updateFromVelocity(left_wheel_est_vel, right_wheel_est_vel, time);
+#pragma GCC diagnostic pop
 
   return true;
 }
@@ -105,7 +109,11 @@ bool Odometry::updateFromVelocity(double left_vel, double right_vel, const rclcp
   const double angular = (right_vel - left_vel) / wheel_separation_;
 
   // Integrate odometry:
+// Disable deprecated warnings
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   integrateExact(linear, angular);
+#pragma GCC diagnostic pop
 
   timestamp_ = time;
 
@@ -152,7 +160,11 @@ void Odometry::updateOpenLoop(double linear, double angular, const rclcpp::Time
   /// Integrate odometry:
   const double dt = time.seconds() - timestamp_.seconds();
   timestamp_ = time;
+// Disable deprecated warnings
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   integrateExact(linear * dt, angular * dt);
+#pragma GCC diagnostic pop
 }
 
 bool Odometry::try_update_open_loop(double linear_vel, double angular_vel, double dt)
@@ -203,7 +215,11 @@ void Odometry::integrateExact(double linear, double angular)
 {
   if (fabs(angular) < 1e-6)
   {
+// Disable deprecated warnings
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
     integrateRungeKutta2(linear, angular);
+#pragma GCC diagnostic pop
   }
   else
   {