diff --git a/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp b/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp
index af40d78..0051469 100644
--- a/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp
+++ b/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp
@@ -47,7 +47,7 @@ class TurtleBot3ManipulationSystemHardware
 
   TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
   hardware_interface::CallbackReturn on_init(
-    const hardware_interface::HardwareInfo & info) override;
+    const hardware_interface::HardwareComponentInterfaceParams & params) override;
 
   TURTLEBOT3_MANIPULATION_HARDWARE_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
diff --git a/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp b/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp
index 46f03dc..1ebcee7 100644
--- a/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp
+++ b/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp
@@ -31,10 +31,10 @@ namespace turtlebot3_manipulation_hardware
 {
 auto logger = rclcpp::get_logger("turtlebot3_manipulation");
 hardware_interface::CallbackReturn TurtleBot3ManipulationSystemHardware::on_init(
-  const hardware_interface::HardwareInfo & info)
+  const hardware_interface::HardwareComponentInterfaceParams & params)
 {
   if (
-    hardware_interface::SystemInterface::on_init(info) !=
+    hardware_interface::SystemInterface::on_init(params) !=
     hardware_interface::CallbackReturn::SUCCESS)
   {
     return hardware_interface::CallbackReturn::ERROR;