diff --git a/twist_recovery/src/twist_recovery.cpp b/twist_recovery/src/twist_recovery.cpp
index 87b98e45c01f07248e2a0c8e1d0717404ed3737c..cb4e0340e80fb31b06b480eb1e09d406512781d3 100644
--- a/twist_recovery/src/twist_recovery.cpp
+++ b/twist_recovery/src/twist_recovery.cpp
@@ -91,9 +91,8 @@ namespace twist_recovery
     private_nh.param("linear_y", base_frame_twist_.linear.y, 0.0);
     private_nh.param("angular_z", base_frame_twist_.angular.z, 0.0);
 
-    private_nh.param("duration", duration_, 3.0);
+    private_nh.param("max_duration", duration_, 3.0);
     private_nh.param("linear_speed_limit", linear_speed_limit_, 0.3);
-    private_nh.param("linear_speed_steer", linear_speed_steer_, -0.2);
     private_nh.param("angular_speed_limit", angular_speed_limit_, 0.2);
     private_nh.param("linear_acceleration_limit", linear_acceleration_limit_, 4.0);
     private_nh.param("angular_acceleration_limit", angular_acceleration_limit_, 3.2);