diff --git a/README.md b/README.md
index 183e9ca7..82e773b0 100644
--- a/README.md
+++ b/README.md
@@ -218,7 +218,7 @@ The Robotiq 2f 85 (or 2f 140) Gripper will be available on the Action topic:
 You can test the gripper by calling the Action server with the following command and setting the desired `position` of the gripper (`0.0=open`, `0.8=close`)
 
 ```bash
-ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0.0, max_effort: 100.0}}"
+ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/ParallelGripperCommand "{command: {position: [0.0], effort: [100.0]}}"
 ```
 
 #### Gen3_lite gripper
diff --git a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml
index b6396f2f..d1b41ad9 100644
--- a/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml
+++ b/kortex_moveit_config/kinova_gen3_6dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml
@@ -12,7 +12,7 @@ controller_manager:
       type: picknik_twist_controller/PicknikTwistController
 
     robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
+      type: parallel_gripper_action_controller/GripperActionController
 
     fault_controller:
       type: picknik_reset_fault_controller/PicknikResetFaultController
@@ -51,6 +51,5 @@ twist_controller:
 
 robotiq_gripper_controller:
   ros__parameters:
-    default: true
     joint: robotiq_85_left_knuckle_joint
     allow_stalling: true
diff --git a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml
index bd98a73d..7c083326 100644
--- a/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml
+++ b/kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/ros2_controllers.yaml
@@ -12,7 +12,7 @@ controller_manager:
       type: picknik_twist_controller/PicknikTwistController
 
     robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
+      type: parallel_gripper_action_controller/GripperActionController
 
     fault_controller:
       type: picknik_reset_fault_controller/PicknikResetFaultController
@@ -52,6 +52,5 @@ twist_controller:
 
 robotiq_gripper_controller:
   ros__parameters:
-    default: true
     joint: robotiq_85_left_knuckle_joint
     allow_stalling: true