diff --git a/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp b/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
index d3d5746..bf585d0 100644
--- a/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
+++ b/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
@@ -65,7 +65,8 @@ class DynamixelHardware : public hardware_interface::SystemInterface
   RCLCPP_SHARED_PTR_DEFINITIONS(DynamixelHardware)
 
   DYNAMIXEL_HARDWARE_PUBLIC
-  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(
+    const hardware_interface::HardwareComponentInterfaceParams & params) override;
 
   DYNAMIXEL_HARDWARE_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
diff --git a/dynamixel_hardware/src/dynamixel_hardware.cpp b/dynamixel_hardware/src/dynamixel_hardware.cpp
index 720db9e..e59ee69 100644
--- a/dynamixel_hardware/src/dynamixel_hardware.cpp
+++ b/dynamixel_hardware/src/dynamixel_hardware.cpp
@@ -48,10 +48,11 @@ constexpr const char * const kExtraJointParameters[] = {
   "Velocity_I_Gain",
 };
 
-CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo & info)
+CallbackReturn DynamixelHardware::on_init(
+  const hardware_interface::HardwareComponentInterfaceParams & params)
 {
   RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "configure");
-  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
+  if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS) {
     return CallbackReturn::ERROR;
   }