diff --git a/ur_description/urdf/ur.transmission.xacro b/ur_description/urdf/ur.transmission.xacro
index 2584e5579..4b2d12630 100644
--- a/ur_description/urdf/ur.transmission.xacro
+++ b/ur_description/urdf/ur.transmission.xacro
@@ -6,57 +6,57 @@
     <transmission name="${prefix}shoulder_pan_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}shoulder_pan_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}shoulder_pan_motor">
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
-  
+
     <transmission name="${prefix}shoulder_lift_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}shoulder_lift_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}shoulder_lift_motor">
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
-  
+
     <transmission name="${prefix}elbow_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}elbow_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}elbow_motor">
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
-  
+
     <transmission name="${prefix}wrist_1_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_1_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_1_motor">
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
-  
+
     <transmission name="${prefix}wrist_2_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_2_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_2_motor">
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
-  
+
     <transmission name="${prefix}wrist_3_trans">
       <type>transmission_interface/SimpleTransmission</type>
       <joint name="${prefix}wrist_3_joint">
-        <hardwareInterface>PositionJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
       </joint>
       <actuator name="${prefix}wrist_3_motor">
         <mechanicalReduction>1</mechanicalReduction>