diff --git a/franka_description/robots/panda_arm.ros2_control.xacro b/franka_description/robots/panda_arm.ros2_control.xacro
index 44a830e..30d1916 100644
--- a/franka_description/robots/panda_arm.ros2_control.xacro
+++ b/franka_description/robots/panda_arm.ros2_control.xacro
@@ -5,9 +5,9 @@
     <ros2_control name="FrankaHardwareInterface" type="system">
       <hardware>
         <xacro:if value="${use_fake_hardware}">
-          <plugin>fake_components/GenericSystem</plugin>
+          <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${fake_sensor_commands}</param>
-          <param name="state_following_offset">0.0</param>
+          <param name="position_state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <plugin>franka_hardware/FrankaHardwareInterface</plugin>