diff --git a/robotiq_description/urdf/2f_140.ros2_control.xacro b/robotiq_description/urdf/2f_140.ros2_control.xacro
index d4b1b8f..59964f5 100644
--- a/robotiq_description/urdf/2f_140.ros2_control.xacro
+++ b/robotiq_description/urdf/2f_140.ros2_control.xacro
@@ -9,7 +9,7 @@
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         com_port:=/dev/ttyUSB0">
 
         <ros2_control name="${name}" type="system">
@@ -25,7 +25,7 @@
                 </xacro:if>
                 <xacro:if value="${use_fake_hardware}">
                     <plugin>mock_components/GenericSystem</plugin>
-                    <param name="fake_sensor_commands">${fake_sensor_commands}</param>
+                    <param name="mock_sensor_commands">${mock_sensor_commands}</param>
                     <param name="state_following_offset">0.0</param>
                 </xacro:if>
                 <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
diff --git a/robotiq_description/urdf/2f_85.ros2_control.xacro b/robotiq_description/urdf/2f_85.ros2_control.xacro
index b488e97..11f46f5 100644
--- a/robotiq_description/urdf/2f_85.ros2_control.xacro
+++ b/robotiq_description/urdf/2f_85.ros2_control.xacro
@@ -9,7 +9,7 @@
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         com_port:=/dev/ttyUSB0">
 
         <ros2_control name="${name}" type="system">
@@ -30,7 +30,7 @@
                 </xacro:if>
                 <xacro:if value="${use_fake_hardware}">
                     <plugin>mock_components/GenericSystem</plugin>
-                    <param name="fake_sensor_commands">${fake_sensor_commands}</param>
+                    <param name="mock_sensor_commands">${mock_sensor_commands}</param>
                     <param name="state_following_offset">0.0</param>
                 </xacro:if>
                 <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
diff --git a/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro b/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
index 9423d8c..9597733 100644
--- a/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
+++ b/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
@@ -10,7 +10,7 @@
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         include_ros2_control:=true
         com_port:=/dev/ttyUSB0">
 
@@ -25,7 +25,7 @@
                 isaac_joint_commands="${isaac_joint_commands}"
                 isaac_joint_states="${isaac_joint_states}"
                 use_fake_hardware="${use_fake_hardware}"
-                fake_sensor_commands="${fake_sensor_commands}"
+                mock_sensor_commands="${mock_sensor_commands}"
                 com_port="${com_port}"/>
         </xacro:if>
 
diff --git a/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro b/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
index f6d4706..b203fed 100644
--- a/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
+++ b/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
@@ -10,7 +10,7 @@
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         include_ros2_control:=true
         com_port:=/dev/ttyUSB0">
 
@@ -25,7 +25,7 @@
                 isaac_joint_commands="${isaac_joint_commands}"
                 isaac_joint_states="${isaac_joint_states}"
                 use_fake_hardware="${use_fake_hardware}"
-                fake_sensor_commands="${fake_sensor_commands}"
+                mock_sensor_commands="${mock_sensor_commands}"
                 com_port="${com_port}"/>
         </xacro:if>