diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
index 16d0241d3..25cc065d3 100644
--- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
@@ -21,7 +21,7 @@
     </xacro:if>
 
     <xacro:robotiq_gripper
-        name="RobotiqGripperHardwareInterface"
+        name="${prefix}RobotiqGripperHardwareInterface"
         prefix="${prefix}"
         parent="${parent}"
         include_ros2_control="${include_ros2_control}"
diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
index 9ff287859..9d665bed8 100644
--- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
@@ -21,7 +21,7 @@
     </xacro:if>
 
     <xacro:robotiq_gripper
-        name="RobotiqGripperHardwareInterface"
+        name="${prefix}RobotiqGripperHardwareInterface"
         prefix="${prefix}"
         parent="${parent}"
         include_ros2_control="${include_ros2_control}"