diff --git a/hal_hw_interface/include/hal_hw_interface/hal_system_interface.hpp b/hal_hw_interface/include/hal_hw_interface/hal_system_interface.hpp
index 93897a8..f6c29b5 100644
--- a/hal_hw_interface/include/hal_hw_interface/hal_system_interface.hpp
+++ b/hal_hw_interface/include/hal_hw_interface/hal_system_interface.hpp
@@ -45,7 +45,6 @@
 #include <unordered_map>
 
 #include "hardware_interface/handle.hpp"
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
@@ -100,16 +99,15 @@ namespace hal_system_interface
  * [1]: https://github.com/PickNikRobotics/ros_control_boilerplate
  */
 
-class HalSystemInterface : public hardware_interface::BaseInterface<
-                               hardware_interface::SystemInterface>
+class HalSystemInterface : public hardware_interface::SystemInterface
 {
 public:
   // Define aliases and static functions for using the Class with shared_ptrs
   RCLCPP_SHARED_PTR_DEFINITIONS(HalSystemInterface);
 
   HAL_HW_INTERFACE_PUBLIC
-  hardware_interface::return_type
-  configure(const hardware_interface::HardwareInfo& info) override;
+  CallbackReturn
+  on_init(const hardware_interface::HardwareInfo& info) override;
 
   HAL_HW_INTERFACE_PUBLIC
   std::vector<hardware_interface::StateInterface>
@@ -130,10 +128,10 @@ class HalSystemInterface : public hardware_interface::BaseInterface<
   //   const std::vector<std::string> & /*stop_interfaces*/) override;
 
   HAL_HW_INTERFACE_PUBLIC
-  hardware_interface::return_type start() override;
+  CallbackReturn on_activate();
 
   HAL_HW_INTERFACE_PUBLIC
-  hardware_interface::return_type stop() override;
+  CallbackReturn on_deactivate();
 
   HAL_HW_INTERFACE_PUBLIC
   hardware_interface::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;
diff --git a/hal_hw_interface/src/hal_system_interface.cpp b/hal_hw_interface/src/hal_system_interface.cpp
index aea8249..a6b45f4 100644
--- a/hal_hw_interface/src/hal_system_interface.cpp
+++ b/hal_hw_interface/src/hal_system_interface.cpp
@@ -108,12 +108,12 @@ void HalSystemInterface::init_state_interface(const std::string joint_name,
                                  .handle_storage = 0.0 };
 }
 
-hardware_interface::return_type
-HalSystemInterface::configure(const hardware_interface::HardwareInfo& info)
+CallbackReturn
+HalSystemInterface::on_init(const hardware_interface::HardwareInfo& info)
 {
-  if (configure_default(info) != hardware_interface::return_type::OK)
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
   {
-    return hardware_interface::return_type::ERROR;
+    return CallbackReturn::ERROR;
   }
 
   HAL_ROS_INFO_NAMED(LOG_NAME, "Initializing HAL hardware interface");
@@ -149,7 +149,7 @@ HalSystemInterface::configure(const hardware_interface::HardwareInfo& info)
 
   HAL_ROS_INFO_NAMED(LOG_NAME, "Initialized HAL pins");
 
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }  // configure()
 
 std::vector<hardware_interface::StateInterface>
@@ -190,16 +190,16 @@ hardware_interface::return_type HalSystemInterface::write([[maybe_unused]] const
   return hardware_interface::return_type::OK;
 }
 
-hardware_interface::return_type HalSystemInterface::start()
+CallbackReturn HalSystemInterface::on_activate()
 {
   HAL_ROS_INFO_NAMED(LOG_NAME, "Starting HAL system interface");
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type HalSystemInterface::stop()
+CallbackReturn HalSystemInterface::on_deactivate()
 {
   HAL_ROS_INFO_NAMED(LOG_NAME, "Stopping HAL system interface");
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 }  // namespace hal_system_interface