diff --git a/robotiq_description/config/robotiq_controllers.yaml b/robotiq_description/config/robotiq_controllers.yaml
index b2677dc..588ec21 100644
--- a/robotiq_description/config/robotiq_controllers.yaml
+++ b/robotiq_description/config/robotiq_controllers.yaml
@@ -4,7 +4,7 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
     robotiq_gripper_controller:
-      type: antipodal_gripper_action_controller/GripperActionController
+      type: position_controllers/GripperActionController
     robotiq_activation_controller:
       type: robotiq_controllers/RobotiqActivationController
 
diff --git a/robotiq_driver/include/robotiq_driver/hardware_interface.hpp b/robotiq_driver/include/robotiq_driver/hardware_interface.hpp
index 35dfde2..15030a3 100644
--- a/robotiq_driver/include/robotiq_driver/hardware_interface.hpp
+++ b/robotiq_driver/include/robotiq_driver/hardware_interface.hpp
@@ -140,24 +140,24 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
   std::atomic<bool> communication_thread_is_running_;
   void background_task();
 
-  double gripper_closed_pos_;
+  double gripper_closed_pos_ = 0.0;
 
   static constexpr double NO_NEW_CMD_ = std::numeric_limits<double>::quiet_NaN();
 
-  double gripper_position_;
-  double gripper_velocity_;
-  double gripper_position_command_;
+  double gripper_position_ = 0.0;
+  double gripper_velocity_ = 0.0;
+  double gripper_position_command_ = 0.0;
 
   std::atomic<uint8_t> write_command_;
   std::atomic<uint8_t> write_force_;
   std::atomic<uint8_t> write_speed_;
   std::atomic<uint8_t> gripper_current_state_;
 
-  double reactivate_gripper_cmd_;
+  double reactivate_gripper_cmd_ = 0.0;
   std::atomic<bool> reactivate_gripper_async_cmd_;
-  double reactivate_gripper_response_;
-  double gripper_force_;
-  double gripper_speed_;
+  double reactivate_gripper_response_ = 0.0;
+  double gripper_force_ = 0.0;
+  double gripper_speed_ = 0.0;
   std::atomic<std::optional<bool>> reactivate_gripper_async_response_;
 };