diff --git a/templates/robot_description/robot_macro.ros2_control.xacro b/templates/robot_description/robot_macro.ros2_control.xacro
index 7486ff02..5f1b3960 100644
--- a/templates/robot_description/robot_macro.ros2_control.xacro
+++ b/templates/robot_description/robot_macro.ros2_control.xacro
@@ -34,7 +34,7 @@
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
-        <state_interface/>
+        </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="acceleration"/>
       </joint>
@@ -45,7 +45,7 @@
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
-        <state_interface/>
+        </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="acceleration"/>
       </joint>
@@ -56,7 +56,7 @@
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
-        <state_interface/>
+        </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="acceleration"/>
       </joint>
@@ -67,7 +67,7 @@
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
-        <state_interface/>
+        </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="acceleration"/>
       </joint>
@@ -78,7 +78,7 @@
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
-        <state_interface/>
+        </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="acceleration"/>
       </joint>
@@ -89,7 +89,7 @@
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
-        <state_interface/>
+        </state_interface>
         <state_interface name="velocity"/>
         <state_interface name="acceleration"/>
       </joint>