diff --git a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
index ee07a9c0a0..6fb9d61359 100644
--- a/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
+++ b/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp
@@ -298,6 +298,7 @@ controller_interface::CallbackReturn GripperActionController<HardwareInterface>:
   // Command - non RT version
   command_struct_.position_ = joint_position_state_interface_->get().get_value();
   command_struct_.max_effort_ = default_max_effort_;
+  command_.initRT(command_struct_);
 
   // Result
   pre_alloc_result_ = std::make_shared<control_msgs::action::GripperCommand::Result>();