diff --git a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
index 45e7af4964..b279e57f3a 100644
--- a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
+++ b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
@@ -116,7 +116,6 @@ class Controller
     const double & dt);
 
 protected:
-  std::unique_ptr<nav2_graceful_controller::SmoothControlLaw> control_law_;
   rclcpp::Logger logger_{rclcpp::get_logger("Controller")};
   rclcpp::Clock::SharedPtr clock_;
 
diff --git a/nav2_docking/opennav_docking/src/controller.cpp b/nav2_docking/opennav_docking/src/controller.cpp
index d45d718431..76a429ee65 100644
--- a/nav2_docking/opennav_docking/src/controller.cpp
+++ b/nav2_docking/opennav_docking/src/controller.cpp
@@ -45,8 +45,6 @@ Controller::Controller(
     node, "controller.v_linear_min", rclcpp::ParameterValue(0.1));
   nav2_util::declare_parameter_if_not_declared(
     node, "controller.v_linear_max", rclcpp::ParameterValue(0.25));
-  nav2_util::declare_parameter_if_not_declared(
-    node, "controller.v_angular_min", rclcpp::ParameterValue(0.15));
   nav2_util::declare_parameter_if_not_declared(
     node, "controller.v_angular_max", rclcpp::ParameterValue(0.75));
   nav2_util::declare_parameter_if_not_declared(
@@ -55,6 +53,7 @@ Controller::Controller(
     node, "controller.rotate_to_heading_angular_vel", rclcpp::ParameterValue(1.0));
   nav2_util::declare_parameter_if_not_declared(
     node, "controller.rotate_to_heading_max_angular_accel", rclcpp::ParameterValue(3.2));
+  nav2_util::declare_parameter_if_not_declared(
     node, "controller.use_collision_detection", rclcpp::ParameterValue(true));
   nav2_util::declare_parameter_if_not_declared(
     node, "controller.costmap_topic",