diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
index 0e132c0761..79466fddc8 100644
--- a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
+++ b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -54,7 +54,9 @@ controller_interface::return_type AdmittanceRule::configure(
       kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
       if (!kinematics_->initialize(
-            node->get_node_parameters_interface(), parameters_.kinematics.tip, robot_description))
+            robot_description,
+            node->get_node_parameters_interface(),
+            "kinematics"))
       {
         return controller_interface::return_type::ERROR;
       }