diff --git a/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro b/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
index d642cbce..aa3bc3d3 100644
--- a/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
+++ b/robotiq_2f_85_gripper_gazebo/urdf/robotiq_arg2f_85_macro.xacro
@@ -34,8 +34,8 @@
 
   <!-- Instantiate model for the REAL robot. -->
   <xacro:robotiq_arg2f_85 
-  prefix=""
-  transmission_hw_interface="$(arg transmission_hw_interface)"/>
+      prefix="${prefix}"
+      transmission_hw_interface="${transmission_hw_interface}"/>
 
   <!-- Mimic joints plugin-->
     <gazebo>
diff --git a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro
index 040feffb..abb72ce8 100644
--- a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro
+++ b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_macro.xacro
@@ -5,7 +5,7 @@
 
   <xacro:macro name="robotiq_arg2f_85" params="
     prefix 
-    transmission_hw_interface:=hardware/interface/EffortJointInterface"
+    transmission_hw_interface:=hardware_interface/EffortJointInterface"
   >
     <!-- Add URDF transmission elements (for ros_control) -->
     <xacro:robotiq_arg2f_85_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}"/>