diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp
index 4c82eb6961..506f968b99 100644
--- a/gripper_controllers/test/test_gripper_controllers.cpp
+++ b/gripper_controllers/test/test_gripper_controllers.cpp
@@ -32,123 +32,142 @@ using hardware_interface::LoanedStateInterface;
 using GripperCommandAction = control_msgs::action::GripperCommand;
 using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>;
 
-void GripperControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
+template <typename T>
+void GripperControllerTest<T>::SetUpTestCase()
+{
+  rclcpp::init(0, nullptr);
+}
 
-void GripperControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
+template <typename T>
+void GripperControllerTest<T>::TearDownTestCase()
+{
+  rclcpp::shutdown();
+}
 
-void GripperControllerTest::SetUp()
+template <typename T>
+void GripperControllerTest<T>::SetUp()
 {
   // initialize controller
-  controller_ = std::make_unique<FriendGripperController>();
+  controller_ = std::make_unique<FriendGripperController<T::value>>();
 }
 
-void GripperControllerTest::TearDown() { controller_.reset(nullptr); }
+template <typename T>
+void GripperControllerTest<T>::TearDown()
+{
+  controller_.reset(nullptr);
+}
 
-void GripperControllerTest::SetUpController()
+template <typename T>
+void GripperControllerTest<T>::SetUpController()
 {
   const auto result = controller_->init("gripper_controller");
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
-  command_ifs.emplace_back(joint_1_pos_cmd_);
+  command_ifs.emplace_back(this->joint_1_cmd_);
   std::vector<LoanedStateInterface> state_ifs;
-  state_ifs.emplace_back(joint_1_pos_state_);
-  state_ifs.emplace_back(joint_1_vel_state_);
+  state_ifs.emplace_back(this->joint_1_pos_state_);
+  state_ifs.emplace_back(this->joint_1_vel_state_);
   controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs));
 }
 
-TEST_F(GripperControllerTest, ParametersNotSet)
+using TestTypes = ::testing::Types<
+  std::integral_constant<const char *, HW_IF_POSITION>,
+  std::integral_constant<const char *, HW_IF_EFFORT>>;
+TYPED_TEST_SUITE(GripperControllerTest, TestTypes);
+
+TYPED_TEST(GripperControllerTest, ParametersNotSet)
 {
-  SetUpController();
+  this->SetUpController();
 
   // configure failed, 'joints' parameter not set
   ASSERT_EQ(
-    controller_->on_configure(rclcpp_lifecycle::State()),
+    this->controller_->on_configure(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::ERROR);
 }
 
-TEST_F(GripperControllerTest, JointParameterIsEmpty)
+TYPED_TEST(GripperControllerTest, JointParameterIsEmpty)
 {
-  SetUpController();
+  this->SetUpController();
 
-  controller_->get_node()->set_parameter({"joint", ""});
+  this->controller_->get_node()->set_parameter({"joint", ""});
 
   // configure failed, 'joints' is empty
   ASSERT_EQ(
-    controller_->on_configure(rclcpp_lifecycle::State()),
+    this->controller_->on_configure(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::ERROR);
 }
 
-TEST_F(GripperControllerTest, ConfigureParamsSuccess)
+TYPED_TEST(GripperControllerTest, ConfigureParamsSuccess)
 {
-  SetUpController();
+  this->SetUpController();
 
-  controller_->get_node()->set_parameter({"joint", "joint_1"});
+  this->controller_->get_node()->set_parameter({"joint", "joint_1"});
 
   // configure successful
   ASSERT_EQ(
-    controller_->on_configure(rclcpp_lifecycle::State()),
+    this->controller_->on_configure(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
 }
 
-TEST_F(GripperControllerTest, ActivateWithWrongJointsNamesFails)
+TYPED_TEST(GripperControllerTest, ActivateWithWrongJointsNamesFails)
 {
-  SetUpController();
+  this->SetUpController();
 
-  controller_->get_node()->set_parameter({"joint", "unicorn_joint"});
+  this->controller_->get_node()->set_parameter({"joint", "unicorn_joint"});
 
   // activate failed, 'joint4' is not a valid joint name for the hardware
   ASSERT_EQ(
-    controller_->on_configure(rclcpp_lifecycle::State()),
+    this->controller_->on_configure(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
   ASSERT_EQ(
-    controller_->on_activate(rclcpp_lifecycle::State()),
+    this->controller_->on_activate(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::ERROR);
 }
 
-TEST_F(GripperControllerTest, ActivateSuccess)
+TYPED_TEST(GripperControllerTest, ActivateSuccess)
 {
-  SetUpController();
+  this->SetUpController();
 
-  controller_->get_node()->set_parameter({"joint", "joint1"});
+  this->controller_->get_node()->set_parameter({"joint", "joint1"});
 
   // activate successful
   ASSERT_EQ(
-    controller_->on_configure(rclcpp_lifecycle::State()),
+    this->controller_->on_configure(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
   ASSERT_EQ(
-    controller_->on_activate(rclcpp_lifecycle::State()),
+    this->controller_->on_activate(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
 }
 
-TEST_F(GripperControllerTest, ActivateDeactivateActivateSuccess)
+TYPED_TEST(GripperControllerTest, ActivateDeactivateActivateSuccess)
 {
-  SetUpController();
+  this->SetUpController();
 
-  controller_->get_node()->set_parameter({"joint", "joint1"});
+  this->controller_->get_node()->set_parameter({"joint", "joint1"});
 
   ASSERT_EQ(
-    controller_->on_configure(rclcpp_lifecycle::State()),
+    this->controller_->on_configure(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
   ASSERT_EQ(
-    controller_->on_activate(rclcpp_lifecycle::State()),
+    this->controller_->on_activate(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
   ASSERT_EQ(
-    controller_->on_deactivate(rclcpp_lifecycle::State()),
+    this->controller_->on_deactivate(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
 
   // re-assign interfaces
   std::vector<LoanedCommandInterface> command_ifs;
-  command_ifs.emplace_back(joint_1_pos_cmd_);
+  command_ifs.emplace_back(this->joint_1_cmd_);
   std::vector<LoanedStateInterface> state_ifs;
-  state_ifs.emplace_back(joint_1_pos_state_);
-  state_ifs.emplace_back(joint_1_vel_state_);
-  controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs));
+  state_ifs.emplace_back(this->joint_1_pos_state_);
+  state_ifs.emplace_back(this->joint_1_vel_state_);
+  this->controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs));
 
   ASSERT_EQ(
-    controller_->on_configure(rclcpp_lifecycle::State()),
+    this->controller_->on_configure(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
   ASSERT_EQ(
-    controller_->on_activate(rclcpp_lifecycle::State()),
+    this->controller_->on_activate(rclcpp_lifecycle::State()),
     controller_interface::CallbackReturn::SUCCESS);
 }
diff --git a/gripper_controllers/test/test_gripper_controllers.hpp b/gripper_controllers/test/test_gripper_controllers.hpp
index 350e551cb8..4983c8102d 100644
--- a/gripper_controllers/test/test_gripper_controllers.hpp
+++ b/gripper_controllers/test/test_gripper_controllers.hpp
@@ -26,20 +26,22 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 
 using hardware_interface::CommandInterface;
+using hardware_interface::HW_IF_EFFORT;
 using hardware_interface::HW_IF_POSITION;
 using hardware_interface::HW_IF_VELOCITY;
 using hardware_interface::StateInterface;
 
 namespace
 {
-
 // subclassing and friending so we can access member variables
+template <const char * HardwareInterface>
 class FriendGripperController
-: public gripper_action_controller::GripperActionController<HW_IF_POSITION>
+: public gripper_action_controller::GripperActionController<HardwareInterface>
 {
   FRIEND_TEST(GripperControllerTest, CommandSuccessTest);
 };
 
+template <typename T>
 class GripperControllerTest : public ::testing::Test
 {
 public:
@@ -53,7 +55,7 @@ class GripperControllerTest : public ::testing::Test
   void SetUpHandles();
 
 protected:
-  std::unique_ptr<FriendGripperController> controller_;
+  std::unique_ptr<FriendGripperController<T::value>> controller_;
 
   // dummy joint state values used for tests
   const std::string joint_name_ = "joint1";
@@ -62,7 +64,7 @@ class GripperControllerTest : public ::testing::Test
 
   StateInterface joint_1_pos_state_{joint_name_, HW_IF_POSITION, &joint_states_[0]};
   StateInterface joint_1_vel_state_{joint_name_, HW_IF_VELOCITY, &joint_states_[1]};
-  CommandInterface joint_1_pos_cmd_{joint_name_, HW_IF_POSITION, &joint_commands_[0]};
+  CommandInterface joint_1_cmd_{joint_name_, T::value, &joint_commands_[0]};
 };
 
 }  // anonymous namespace