diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
index 4ed178fa1e..7c955e0995 100644
--- a/admittance_controller/test/test_admittance_controller.hpp
+++ b/admittance_controller/test/test_admittance_controller.hpp
@@ -35,6 +35,10 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "rclcpp/parameter_value.hpp"
+#include "rclcpp/version.h"
+#if RCLCPP_VERSION_GTE(18, 0, 0)
+#include "rclcpp/node_interfaces/node_interfaces.hpp"
+#endif
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
 #include "test_asset_6d_robot_description.hpp"
@@ -220,7 +224,15 @@ class AdmittanceControllerTest : public ::testing::Test
 
   void broadcast_tfs()
   {
+#if RCLCPP_VERSION_GTE(18, 0, 0)
+    static tf2_ros::TransformBroadcaster br(
+      rclcpp::node_interfaces::NodeInterfaces(
+        test_broadcaster_node_->get_node_parameters_interface(),
+        test_broadcaster_node_->get_node_topics_interface()));
+#else
     static tf2_ros::TransformBroadcaster br(test_broadcaster_node_);
+#endif
+
     geometry_msgs::msg::TransformStamped transform_stamped;
 
     transform_stamped.header.stamp = test_broadcaster_node_->now();