diff --git a/diff_drive_controller/include/diff_drive_controller/odometry.hpp b/diff_drive_controller/include/diff_drive_controller/odometry.hpp
index 83ab270f72..edca431d3d 100644
--- a/diff_drive_controller/include/diff_drive_controller/odometry.hpp
+++ b/diff_drive_controller/include/diff_drive_controller/odometry.hpp
@@ -25,7 +25,12 @@
 #include <cmath>
 
 #include "rclcpp/time.hpp"
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
 #include "rcpputils/rolling_mean_accumulator.hpp"
+#else
+#include "rcppmath/rolling_mean_accumulator.hpp"
+#endif
 
 namespace diff_drive_controller
 {
@@ -50,7 +55,12 @@ class Odometry
   void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
 
 private:
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
   using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator<double>;
+#else
+  using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator<double>;
+#endif
 
   void integrateRungeKutta2(double linear, double angular);
   void integrateExact(double linear, double angular);
diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
index 95bcef7e63..e4a22f6d3b 100644
--- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
+++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
@@ -24,7 +24,12 @@
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
 #include "rcpputils/rolling_mean_accumulator.hpp"
+#else
+#include "rcppmath/rolling_mean_accumulator.hpp"
+#endif
 
 namespace steering_odometry
 {
@@ -229,6 +234,13 @@ class SteeringOdometry
    */
   void reset_accumulators();
 
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
+  using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator<double>;
+#else
+  using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator<double>;
+#endif
+
   /// Current timestamp:
   rclcpp::Time timestamp_;
 
@@ -256,8 +268,8 @@ class SteeringOdometry
   double traction_left_wheel_old_pos_;
   /// Rolling mean accumulators for the linear and angular velocities:
   size_t velocity_rolling_window_size_;
-  rcpputils::RollingMeanAccumulator<double> linear_acc_;
-  rcpputils::RollingMeanAccumulator<double> angular_acc_;
+  RollingMeanAccumulator linear_acc_;
+  RollingMeanAccumulator angular_acc_;
 };
 }  // namespace steering_odometry
 
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
index e2ced036ff..aadd047f2e 100644
--- a/steering_controllers_library/src/steering_odometry.cpp
+++ b/steering_controllers_library/src/steering_odometry.cpp
@@ -324,8 +324,8 @@ void SteeringOdometry::integrate_exact(double linear, double angular)
 
 void SteeringOdometry::reset_accumulators()
 {
-  linear_acc_ = rcpputils::RollingMeanAccumulator<double>(velocity_rolling_window_size_);
-  angular_acc_ = rcpputils::RollingMeanAccumulator<double>(velocity_rolling_window_size_);
+  linear_acc_ = RollingMeanAccumulator(velocity_rolling_window_size_);
+  angular_acc_ = RollingMeanAccumulator(velocity_rolling_window_size_);
 }
 
 }  // namespace steering_odometry
diff --git a/tricycle_controller/include/tricycle_controller/odometry.hpp b/tricycle_controller/include/tricycle_controller/odometry.hpp
index 62eb51d6cc..13d65a980a 100644
--- a/tricycle_controller/include/tricycle_controller/odometry.hpp
+++ b/tricycle_controller/include/tricycle_controller/odometry.hpp
@@ -22,7 +22,12 @@
 #include <cmath>
 
 #include "rclcpp/time.hpp"
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
 #include "rcpputils/rolling_mean_accumulator.hpp"
+#else
+#include "rcppmath/rolling_mean_accumulator.hpp"
+#endif
 
 namespace tricycle_controller
 {
@@ -45,7 +50,12 @@ class Odometry
   void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
 
 private:
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
   using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator<double>;
+#else
+  using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator<double>;
+#endif
 
   void integrateRungeKutta2(double linear, double angular);
   void integrateExact(double linear, double angular);