diff --git a/CITATION.cff b/CITATION.cff
new file mode 100644
index 0000000..8226faf
--- /dev/null
+++ b/CITATION.cff
@@ -0,0 +1,14 @@
+cff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+type: software
+title: "UKAEA ROS 2 Driver for Comau CRCOpen"
+authors:
+  - family-names: "Slater"
+    given-names: "Adam"
+  - family-names: "Saleem"
+    given-names: "Abdullah"
+version: 0.5.0
+date-released: 2025-10-17
+url: "https://github.com/ukaea/CRCOpenROS2Driver"
+license: "Apache-2.0"
+doi: "10.5281/zenodo.TBD"
\ No newline at end of file
diff --git a/crcopen_hardware/include/crcopen_hardware.hpp b/crcopen_hardware/include/crcopen_hardware.hpp
index 844402e..c2ef821 100644
--- a/crcopen_hardware/include/crcopen_hardware.hpp
+++ b/crcopen_hardware/include/crcopen_hardware.hpp
@@ -88,7 +88,7 @@ class CRCOpenHardware
    * @return SUCCESS if initialized; FAILURE if parameters are missing/invalid; ERROR otherwise.
    * @post UNCONFIGURED state on success.
    */
-  hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
+  hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override;
 
   /**
    * @brief Export per-joint state interfaces.
diff --git a/crcopen_hardware/src/crcopen_hardware.cpp b/crcopen_hardware/src/crcopen_hardware.cpp
index 77b5d24..d32de29 100644
--- a/crcopen_hardware/src/crcopen_hardware.cpp
+++ b/crcopen_hardware/src/crcopen_hardware.cpp
@@ -112,10 +112,11 @@ namespace crcopen_hardware
     return;
   }
 
-  hardware_interface::CallbackReturn CRCOpenHardware::on_init(const hardware_interface::HardwareInfo &info)
+  hardware_interface::CallbackReturn CRCOpenHardware::on_init(const hardware_interface::HardwareComponentInterfaceParams & params)
   {
+      
     RCLCPP_INFO(rclcpp::get_logger(LOG_NAME), "on_init");
-    if (hardware_interface::SystemInterface::on_init(info) != hardware_interface::CallbackReturn::SUCCESS)
+    if (hardware_interface::SystemInterface::on_init(params) != hardware_interface::CallbackReturn::SUCCESS)
     {
       return hardware_interface::CallbackReturn::ERROR;
     }