diff --git a/hardware_interface/test/test_component_parser.cpp b/hardware_interface/test/test_component_parser.cpp
index f67f91308d..968d41ed97 100644
--- a/hardware_interface/test/test_component_parser.cpp
+++ b/hardware_interface/test/test_component_parser.cpp
@@ -564,6 +564,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_gpio
   EXPECT_THAT(hardware_info.gpios[1].state_interfaces, SizeIs(1));
   EXPECT_THAT(hardware_info.gpios[1].command_interfaces, SizeIs(1));
   EXPECT_EQ(hardware_info.gpios[1].state_interfaces[0].name, "vacuum");
+  EXPECT_EQ(hardware_info.gpios[1].state_interfaces[0].initial_value, "1.0");
   EXPECT_EQ(hardware_info.gpios[1].command_interfaces[0].name, "vacuum");
 
   EXPECT_THAT(hardware_info.transmissions, IsEmpty());
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp
index a42d39a241..7b2dd46e7a 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp
@@ -372,7 +372,9 @@ const auto valid_urdf_ros2_control_system_robot_with_gpio =
     </gpio>
     <gpio name="flange_vacuum">
       <command_interface name="vacuum"/>
-      <state_interface name="vacuum"/> <!-- Needed to know current state of the input -->
+      <state_interface name="vacuum"> <!-- Needed to know current state of the input -->
+        <param name="initial_value">1.0</param>
+      </state_interface>
     </gpio>
   </ros2_control>
 )";