diff --git a/franka_description/robots/panda_arm.ros2_control.xacro b/franka_description/robots/panda_arm.ros2_control.xacro
index 4c8e98f8..b3a7fa35 100644
--- a/franka_description/robots/panda_arm.ros2_control.xacro
+++ b/franka_description/robots/panda_arm.ros2_control.xacro
@@ -27,13 +27,13 @@
         </joint>
       </xacro:macro>
 
-      <xacro:configure_joint joint_name="${ns}_joint1" initial_position="-1.57"/>
-      <xacro:configure_joint joint_name="${ns}_joint2" initial_position="0.67"/>
+      <xacro:configure_joint joint_name="${ns}_joint1" initial_position="0.0"/>
+      <xacro:configure_joint joint_name="${ns}_joint2" initial_position="-0.7854"/>
       <xacro:configure_joint joint_name="${ns}_joint3" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="${ns}_joint4" initial_position="0.0"/>
+      <xacro:configure_joint joint_name="${ns}_joint4" initial_position="-2.3562"/>
       <xacro:configure_joint joint_name="${ns}_joint5" initial_position="0.0"/>
-      <xacro:configure_joint joint_name="${ns}_joint6" initial_position="1.3"/>
-      <xacro:configure_joint joint_name="${ns}_joint7" initial_position="2.3"/>
+      <xacro:configure_joint joint_name="${ns}_joint6" initial_position="1.5708"/>
+      <xacro:configure_joint joint_name="${ns}_joint7" initial_position="0.7854"/>
 
     </ros2_control>
   </xacro:macro>