diff --git a/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp b/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp
index 43c38b0c1f..c38b9189e1 100644
--- a/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp
+++ b/antipodal_gripper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp
@@ -62,9 +62,9 @@ class GripperActionController : public controller_interface::ControllerInterface
    */
   struct Commands
   {
-    double position_;         // Last commanded position
-    double target_velocity_;  // Desired gripper velocity
-    double max_effort_;       // Max allowed effort
+    double position_cmd;    // Commanded position
+    double max_velocity_;  // Desired max gripper velocity
+    double max_effort_;      // Desired max allowed effort
   };
 
   GRIPPER_ACTION_CONTROLLER_PUBLIC GripperActionController();