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 9ff28785..68bde96a 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
@@ -28,7 +28,7 @@
         com_port="${com_port}"
         use_fake_hardware="${use_fake_hardware}"
         mock_sensor_commands="${fake_sensor_commands}"
-        sim_gazebo="${sim_gazebo}"
+        sim_ignition="${sim_gazebo}"
         sim_isaac="${sim_isaac}"
         isaac_joint_commands="${isaac_joint_commands}"
         isaac_joint_states="${isaac_joint_states}">
diff --git a/kortex_driver/src/hardware_interface.cpp b/kortex_driver/src/hardware_interface.cpp
index 11dcb50a..1806a056 100644
--- a/kortex_driver/src/hardware_interface.cpp
+++ b/kortex_driver/src/hardware_interface.cpp
@@ -85,7 +85,8 @@ KortexMultiInterfaceHardware::KortexMultiInterfaceHardware()
 }
 
 #ifdef ROS_DISTRO_JAZZY
-CallbackReturn KortexMultiInterfaceHardware::on_init(const hardware_interface::HardwareComponentInterfaceParams & params)
+CallbackReturn KortexMultiInterfaceHardware::on_init(
+  const hardware_interface::HardwareComponentInterfaceParams & params)
 {
   RCLCPP_INFO(LOGGER, "Configuring Hardware Interface");
   if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS)