diff --git a/tricycle_controller/config/tricycle_drive_controller.yaml b/tricycle_controller/config/tricycle_drive_controller.yaml
index a7853954d7..e5b18f9d36 100644
--- a/tricycle_controller/config/tricycle_drive_controller.yaml
+++ b/tricycle_controller/config/tricycle_drive_controller.yaml
@@ -35,7 +35,7 @@ tricycle_controller:
       # max_acceleration: 1000.0
 
     # cmd_vel input
-    cmd_vel_timeout: 500 # In milliseconds. Timeout to stop if no cmd_vel is received
+    cmd_vel_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.
diff --git a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
index b8aa29e92b..6e3eda87f2 100644
--- a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
+++ b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
@@ -128,7 +128,7 @@ class TricycleController : public controller_interface::ControllerInterface
   tf2_msgs::msg::TFMessage tf_msg_;
 
   // Timeout to consider cmd_vel commands old
-  std::chrono::milliseconds cmd_vel_timeout_{500};
+  rclcpp::Duration cmd_vel_timeout_ = rclcpp::Duration::from_seconds(0.5);
 
   bool subscriber_is_active_ = false;
   rclcpp::Subscription<TwistStamped>::SharedPtr velocity_command_subscriber_ = nullptr;
diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
index c61d781919..d3636602c9 100644
--- a/tricycle_controller/src/tricycle_controller.cpp
+++ b/tricycle_controller/src/tricycle_controller.cpp
@@ -256,7 +256,7 @@ CallbackReturn TricycleController::on_configure(const rclcpp_lifecycle::State &
   odometry_.setWheelParams(params_.wheelbase, params_.wheel_radius);
   odometry_.setVelocityRollingWindowSize(static_cast<size_t>(params_.velocity_rolling_window_size));
 
-  cmd_vel_timeout_ = std::chrono::milliseconds{params_.cmd_vel_timeout};
+  cmd_vel_timeout_ = rclcpp::Duration::from_seconds(params_.cmd_vel_timeout);
   params_.publish_ackermann_command =
     get_node()->get_parameter("publish_ackermann_command").as_bool();
 
diff --git a/tricycle_controller/src/tricycle_controller_parameter.yaml b/tricycle_controller/src/tricycle_controller_parameter.yaml
index cf661eddc1..1b1a80a972 100644
--- a/tricycle_controller/src/tricycle_controller_parameter.yaml
+++ b/tricycle_controller/src/tricycle_controller_parameter.yaml
@@ -67,9 +67,9 @@ tricycle_controller:
     description: "for doing the pose integration in separate node.",
   }
   cmd_vel_timeout: {
-    type: int,
-    default_value: 500, # milliseconds
-    description: "Timeout in milliseconds, after which input command on ``cmd_vel`` topic is considered staled.",
+    type: double,
+    default_value: 0.5, # seconds
+    description: "Timeout in seconds, after which input command on ``cmd_vel`` topic is considered staled.",
   }
   publish_ackermann_command: {
     type: bool,