diff --git a/thruster_allocation_matrix_controller/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp b/thruster_allocation_matrix_controller/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp
index b1e0aac..cb01113 100644
--- a/thruster_allocation_matrix_controller/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp
+++ b/thruster_allocation_matrix_controller/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp
@@ -85,8 +85,7 @@ class ThrusterAllocationMatrixController : public controller_interface::Chainabl
 protected:
   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
 
-  controller_interface::return_type update_reference_from_subscribers(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  controller_interface::return_type update_reference_from_subscribers() override;
 
   void update_parameters();
 
diff --git a/thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller.cpp b/thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller.cpp
index 3f68d6b..1dad712 100644
--- a/thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller.cpp
+++ b/thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller.cpp
@@ -206,8 +206,7 @@ std::vector<hardware_interface::CommandInterface> ThrusterAllocationMatrixContro
   return reference_interfaces;
 }
 
-controller_interface::return_type ThrusterAllocationMatrixController::update_reference_from_subscribers(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+controller_interface::return_type ThrusterAllocationMatrixController::update_reference_from_subscribers()
 {
   auto * current_reference = reference_.readFromNonRT();
 
diff --git a/velocity_controllers/include/velocity_controllers/integral_sliding_mode_controller.hpp b/velocity_controllers/include/velocity_controllers/integral_sliding_mode_controller.hpp
index 9e4fe1e..32d41ac 100644
--- a/velocity_controllers/include/velocity_controllers/integral_sliding_mode_controller.hpp
+++ b/velocity_controllers/include/velocity_controllers/integral_sliding_mode_controller.hpp
@@ -86,8 +86,7 @@ class IntegralSlidingModeController : public controller_interface::ChainableCont
 protected:
   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
 
-  controller_interface::return_type update_reference_from_subscribers(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  controller_interface::return_type update_reference_from_subscribers() override;
 
   controller_interface::return_type update_system_state_values();
 
diff --git a/velocity_controllers/src/integral_sliding_mode_controller.cpp b/velocity_controllers/src/integral_sliding_mode_controller.cpp
index 412ee2c..ec0c488 100644
--- a/velocity_controllers/src/integral_sliding_mode_controller.cpp
+++ b/velocity_controllers/src/integral_sliding_mode_controller.cpp
@@ -241,8 +241,7 @@ controller_interface::CallbackReturn IntegralSlidingModeController::on_deactivat
 
 bool IntegralSlidingModeController::on_set_chained_mode(bool /*chained_mode*/) { return true; }
 
-controller_interface::return_type IntegralSlidingModeController::update_reference_from_subscribers(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+controller_interface::return_type IntegralSlidingModeController::update_reference_from_subscribers()
 {
   auto * current_reference = reference_.readFromNonRT();