diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp
index eb477a9d661..f5545a0d9d4 100644
--- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp
+++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp
@@ -89,7 +89,7 @@ class DetectionSensor : public DetectionSensorBase
 
   auto update(
     const double, const std::vector<traffic_simulator_msgs::EntityStatus> &, const rclcpp::Time &,
-    const std::vector<std::string> & lidar_detected_entity) -> void override;
+    const std::vector<std::string> & lidar_detected_entities) -> void override;
 };
 }  // namespace simple_sensor_simulator
 
diff --git a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/occupancy_grid/occupancy_grid_sensor.hpp b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/occupancy_grid/occupancy_grid_sensor.hpp
index 95af06dd0fc..a5f17dbd8aa 100644
--- a/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/occupancy_grid/occupancy_grid_sensor.hpp
+++ b/simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/occupancy_grid/occupancy_grid_sensor.hpp
@@ -126,7 +126,7 @@ class OccupancyGridSensor : public OccupancyGridSensorBase
 template <>
 auto OccupancyGridSensor<nav_msgs::msg::OccupancyGrid>::getOccupancyGrid(
   const std::vector<traffic_simulator_msgs::EntityStatus> & status, const rclcpp::Time & stamp,
-  const std::vector<std::string> & lidar_detected_entity) -> nav_msgs::msg::OccupancyGrid;
+  const std::vector<std::string> & lidar_detected_entities) -> nav_msgs::msg::OccupancyGrid;
 }  // namespace simple_sensor_simulator
 
 #endif  // SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__OCCUPANCY_GRID__OCCUPANCY_GRID_SENSOR_HPP_
diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp
index 107e0b66d48..d947efe5d5d 100644
--- a/simulation/simple_sensor_simulator/src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp
+++ b/simulation/simple_sensor_simulator/src/sensor_simulation/occupancy_grid/occupancy_grid_sensor.cpp
@@ -41,14 +41,14 @@ geometry_msgs::Pose OccupancyGridSensorBase::getSensorPose(
 
 const std::vector<std::string> OccupancyGridSensorBase::getDetectedObjects(
   const std::vector<traffic_simulator_msgs::EntityStatus> & status,
-  const std::vector<std::string> & lidar_detected_entity) const
+  const std::vector<std::string> & lidar_detected_entities) const
 {
   std::vector<std::string> detected_entities;
   const auto pose = getSensorPose(status);
   for (const auto & s : status) {
     if (const auto has_detected =
-          std::find(lidar_detected_entity.begin(), lidar_detected_entity.end(), s.name()) !=
-          lidar_detected_entity.end();
+          std::find(lidar_detected_entities.begin(), lidar_detected_entities.end(), s.name()) !=
+          lidar_detected_entities.end();
         !has_detected) {
       continue;
     }
@@ -66,7 +66,7 @@ const std::vector<std::string> OccupancyGridSensorBase::getDetectedObjects(
 template <>
 auto OccupancyGridSensor<nav_msgs::msg::OccupancyGrid>::getOccupancyGrid(
   const std::vector<traffic_simulator_msgs::EntityStatus> & status, const rclcpp::Time & stamp,
-  const std::vector<std::string> & lidar_detected_entity) -> nav_msgs::msg::OccupancyGrid
+  const std::vector<std::string> & lidar_detected_entities) -> nav_msgs::msg::OccupancyGrid
 {
   // check if entities in `status` have unique names
   {
@@ -105,10 +105,10 @@ auto OccupancyGridSensor<nav_msgs::msg::OccupancyGrid>::getOccupancyGrid(
   auto detected_entities = std::set<std::string>();
   {
     if (configuration_.filter_by_range()) {
-      auto v = getDetectedObjects(status, lidar_detected_entity);
+      auto v = getDetectedObjects(status, lidar_detected_entities);
       detected_entities.insert(v.begin(), v.end());
     } else {
-      detected_entities.insert(lidar_detected_entity.begin(), lidar_detected_entity.end());
+      detected_entities.insert(lidar_detected_entities.begin(), lidar_detected_entities.end());
     }
   }