diff --git a/diff_drive_controller/include/diff_drive_controller/odometry.hpp b/diff_drive_controller/include/diff_drive_controller/odometry.hpp
index 1a960a5e5a..d31696c204 100644
--- a/diff_drive_controller/include/diff_drive_controller/odometry.hpp
+++ b/diff_drive_controller/include/diff_drive_controller/odometry.hpp
@@ -56,7 +56,6 @@ class Odometry
   bool update_from_vel(double left_vel, double right_vel, double dt);
   bool try_update_open_loop(double linear_vel, double angular_vel, double dt);
   void setOdometry(double x, double y, double heading);
-  [[deprecated("Use setOdometry(0.0, 0.0, 0.0) instead")]] void resetOdometry();
 
   double getX() const { return x_; }
   double getY() const { return y_; }
diff --git a/diff_drive_controller/src/odometry.cpp b/diff_drive_controller/src/odometry.cpp
index 05ad1121ff..aaae804c4f 100644
--- a/diff_drive_controller/src/odometry.cpp
+++ b/diff_drive_controller/src/odometry.cpp
@@ -186,13 +186,6 @@ void Odometry::setOdometry(double x, double y, double heading)
   heading_ = heading;
   resetAccumulators();
 }
-void Odometry::resetOdometry()
-{
-  x_ = 0.0;
-  y_ = 0.0;
-  heading_ = 0.0;
-  resetAccumulators();
-}
 
 void Odometry::setWheelParams(
   double wheel_separation, double left_wheel_radius, double right_wheel_radius)
diff --git a/omni_wheel_drive_controller/include/omni_wheel_drive_controller/odometry.hpp b/omni_wheel_drive_controller/include/omni_wheel_drive_controller/odometry.hpp
index b20a10a2a3..f95ec90b4f 100644
--- a/omni_wheel_drive_controller/include/omni_wheel_drive_controller/odometry.hpp
+++ b/omni_wheel_drive_controller/include/omni_wheel_drive_controller/odometry.hpp
@@ -32,7 +32,6 @@ class Odometry
   bool updateOpenLoop(
     const double & linear_x_vel, const double & linear_y_vel, const double & angular_vel,
     const rclcpp::Time & time);
-  [[deprecated("Use setOdometry(0.0, 0.0, 0.0) instead")]] void resetOdometry();
   void setOdometry(const double & x, const double & y, const double & heading);
 
   double getX() const { return x_; }
diff --git a/omni_wheel_drive_controller/src/odometry.cpp b/omni_wheel_drive_controller/src/odometry.cpp
index 574f59ded2..e746a23810 100644
--- a/omni_wheel_drive_controller/src/odometry.cpp
+++ b/omni_wheel_drive_controller/src/odometry.cpp
@@ -122,12 +122,6 @@ bool Odometry::updateOpenLoop(
   return true;
 }
 
-void Odometry::resetOdometry()
-{
-  x_ = 0.0;
-  y_ = 0.0;
-  heading_ = 0.0;
-}
 void Odometry::setOdometry(const double & x, const double & y, const double & heading)
 {
   x_ = x;
diff --git a/steering_controllers_library/include/steering_controllers_library/steering_kinematics.hpp b/steering_controllers_library/include/steering_controllers_library/steering_kinematics.hpp
index 798aaac858..983effae85 100644
--- a/steering_controllers_library/include/steering_controllers_library/steering_kinematics.hpp
+++ b/steering_controllers_library/include/steering_controllers_library/steering_kinematics.hpp
@@ -213,11 +213,6 @@ class SteeringKinematics
     const double v_bx, const double omega_bz, const bool open_loop = true,
     const bool reduce_wheel_speed_until_steering_reached = false);
 
-  /**
-   *  \brief Reset poses, heading, and accumulators
-   */
-  [[deprecated("Use set_odometry(0.0, 0.0, 0.0) instead")]] void reset_odometry();
-
   /**
    *  \brief Set poses and heading with the given values and reset accumulators
    * \param x x position [m]
diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
index 9fa95dd45e..53a65150c1 100644
--- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
+++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
@@ -114,8 +114,6 @@ class [[deprecated("Use steering_kinematics::SteeringKinematics instead")]] Stee
     double v_bx, double omega_bz, bool open_loop = true,
     bool reduce_wheel_speed_until_steering_reached = false);
 
-  void reset_odometry();
-
 private:
   steering_kinematics::SteeringKinematics sk_impl_;
 };
diff --git a/steering_controllers_library/src/steering_kinematics.cpp b/steering_controllers_library/src/steering_kinematics.cpp
index ede8387f52..305b0e6fcf 100644
--- a/steering_controllers_library/src/steering_kinematics.cpp
+++ b/steering_controllers_library/src/steering_kinematics.cpp
@@ -347,14 +347,6 @@ std::tuple<std::vector<double>, std::vector<double>> SteeringKinematics::get_com
   }
 }
 
-void SteeringKinematics::reset_odometry()
-{
-  x_ = 0.0;
-  y_ = 0.0;
-  heading_ = 0.0;
-  reset_accumulators();
-}
-
 void SteeringKinematics::set_odometry(const double & x, const double & y, const double & heading)
 {
   x_ = x;
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
index d92fcc3e46..024ee702e8 100644
--- a/steering_controllers_library/src/steering_odometry.cpp
+++ b/steering_controllers_library/src/steering_odometry.cpp
@@ -108,6 +108,4 @@ std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_comma
     v_bx, omega_bz, open_loop, reduce_wheel_speed_until_steering_reached);
 }
 
-void SteeringOdometry::reset_odometry() { sk_impl_.set_odometry(0.0, 0.0, 0.0); }
-
 }  // namespace steering_odometry