diff --git a/abb_hardware_interface/src/abb_hardware_interface.cpp b/abb_hardware_interface/src/abb_hardware_interface.cpp
index 43ef979..8ca7870 100644
--- a/abb_hardware_interface/src/abb_hardware_interface.cpp
+++ b/abb_hardware_interface/src/abb_hardware_interface.cpp
@@ -46,6 +46,7 @@ CallbackReturn ABBSystemHardware::on_init(const hardware_interface::HardwareInfo
   RCLCPP_INFO_STREAM(LOGGER, "Robot controller description:\n"
                                  << abb::robot::summaryText(robot_controller_description_));
 
+  std::vector<abb::robot::InitialJointValue> initial_joint_values = {};
   for (const hardware_interface::ComponentInfo& joint : info_.joints)
   {
     if (joint.command_interfaces.size() != 2)
@@ -89,6 +90,27 @@ CallbackReturn ABBSystemHardware::on_init(const hardware_interface::HardwareInfo
                    joint.name.c_str(), joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY);
       return CallbackReturn::ERROR;
     }
+    // Set the initial values for state and position interfaces.
+    auto get_value_from_info =
+      [](const std::string& info_value) -> double
+      {
+        if (info_value.empty())
+          return 0.0;
+        try
+        {
+          return std::stod(info_value);
+        }
+        catch(const std::exception& e)
+        {
+          return 0.0;
+        }
+      };
+    abb::robot::InitialJointValue initial_value;
+    initial_value.position_state = get_value_from_info(joint.state_interfaces[0].initial_value);
+    initial_value.velocity_state = get_value_from_info(joint.state_interfaces[1].initial_value);
+    initial_value.position_command = get_value_from_info(joint.command_interfaces[0].initial_value);
+    initial_value.velocity_command = get_value_from_info(joint.command_interfaces[1].initial_value);
+    initial_joint_values.push_back(std::move(initial_value));
   }
 
   // Configure EGM
@@ -97,7 +119,7 @@ CallbackReturn ABBSystemHardware::on_init(const hardware_interface::HardwareInfo
   // Initialize motion data from robot controller description
   try
   {
-    abb::robot::initializeMotionData(motion_data_, robot_controller_description_);
+    abb::robot::initializeMotionData(motion_data_, robot_controller_description_, initial_joint_values);
   }
   catch (...)
   {
diff --git a/robot_specific_config/abb_irb1200_support/urdf/irb1200.ros2_control.xacro b/robot_specific_config/abb_irb1200_support/urdf/irb1200.ros2_control.xacro
index d9f9938..80eb429 100644
--- a/robot_specific_config/abb_irb1200_support/urdf/irb1200.ros2_control.xacro
+++ b/robot_specific_config/abb_irb1200_support/urdf/irb1200.ros2_control.xacro
@@ -26,23 +26,33 @@
         <command_interface name="position">
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
+          <param name="initial_value">0.0</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="initial_value">0.0</param>
         </command_interface>
-        <command_interface name="velocity"/>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
         </state_interface>
-        <state_interface name="velocity"/>
+        <state_interface name="velocity">
+          <param name="initial_value">0.0</param>
+        </state_interface>
       </joint>
       <joint name="${prefix}joint_2">
         <command_interface name="position">
           <param name="min">-2.41</param>
           <param name="max">2.41</param>
+          <param name="initial_value">0.0</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="initial_value">0.0</param>
         </command_interface>
-        <command_interface name="velocity"/>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
         </state_interface>
-        <state_interface name="velocity"/>
+        <state_interface name="velocity">
+          <param name="initial_value">0.0</param>
+        </state_interface>
       </joint>
       <joint name="${prefix}joint_3">
         <command_interface name="position">
@@ -59,34 +69,49 @@
         <command_interface name="position">
           <param name="min">-2.66</param>
           <param name="max">2.66</param>
+          <param name="initial_value">0.0</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="initial_value">0.0</param>
         </command_interface>
-        <command_interface name="velocity"/>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
         </state_interface>
-        <state_interface name="velocity"/>
+        <state_interface name="velocity">
+          <param name="initial_value">0.0</param>
+        </state_interface>
       </joint>
       <joint name="${prefix}joint_5">
         <command_interface name="position">
           <param name="min">{-2*pi}</param>
           <param name="max">{2*pi}</param>
+          <param name="initial_value">0.0</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="initial_value">0.0</param>
         </command_interface>
-        <command_interface name="velocity"/>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
         </state_interface>
-        <state_interface name="velocity"/>
+        <state_interface name="velocity">
+          <param name="initial_value">0.0</param>
+        </state_interface>
       </joint>
       <joint name="${prefix}joint_6">
         <command_interface name="position">
           <param name="min">-2.23</param>
           <param name="max">2.23</param>
+          <param name="initial_value">0.0</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="initial_value">0.0</param>
         </command_interface>
-        <command_interface name="velocity"/>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
         </state_interface>
-        <state_interface name="velocity"/>
+        <state_interface name="velocity">
+          <param name="initial_value">0.0</param>
+        </state_interface>
       </joint>
     </ros2_control>
   </xacro:macro>