diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
index 7dca2e2010..5a17f05102 100644
--- a/admittance_controller/test/test_admittance_controller.hpp
+++ b/admittance_controller/test/test_admittance_controller.hpp
@@ -201,7 +201,7 @@ class AdmittanceControllerTest : public ::testing::Test
 
     for (auto i = 0u; i < joint_command_values_.size(); ++i)
     {
-      command_itfs_.emplace_back(hardware_interface::CommandInterface(
+      command_itfs_.emplace_back(std::make_shared<hardware_interface::CommandInterface>(
         joint_names_[i], command_interface_types_[0], &joint_command_values_[i]));
       command_ifs.emplace_back(command_itfs_.back());
     }
@@ -216,7 +216,7 @@ class AdmittanceControllerTest : public ::testing::Test
 
     for (auto i = 0u; i < joint_state_values_.size(); ++i)
     {
-      state_itfs_.emplace_back(hardware_interface::StateInterface(
+      state_itfs_.emplace_back(std::make_shared<hardware_interface::StateInterface>(
         joint_names_[i], state_interface_types_[0], &joint_state_values_[i]));
       state_ifs.emplace_back(state_itfs_.back());
     }
@@ -226,7 +226,7 @@ class AdmittanceControllerTest : public ::testing::Test
 
     for (auto i = 0u; i < fts_state_names_.size(); ++i)
     {
-      state_itfs_.emplace_back(hardware_interface::StateInterface(
+      state_itfs_.emplace_back(std::make_shared<hardware_interface::StateInterface>(
         ft_sensor_name_, fts_itf_names[i], &fts_state_values_[i]));
       state_ifs.emplace_back(state_itfs_.back());
     }
@@ -397,8 +397,8 @@ class AdmittanceControllerTest : public ::testing::Test
   std::array<double, 6> fts_state_values_ = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
   std::vector<std::string> fts_state_names_;
 
-  std::vector<hardware_interface::StateInterface> state_itfs_;
-  std::vector<hardware_interface::CommandInterface> command_itfs_;
+  std::vector<std::shared_ptr<hardware_interface::StateInterface>> state_itfs_;
+  std::vector<std::shared_ptr<hardware_interface::CommandInterface>> command_itfs_;
 
   // Test related parameters
   std::unique_ptr<TestableAdmittanceController> controller_;
diff --git a/gripper_controllers/test/test_gripper_controllers.hpp b/gripper_controllers/test/test_gripper_controllers.hpp
index 3e9750a603..b002aaf9c4 100644
--- a/gripper_controllers/test/test_gripper_controllers.hpp
+++ b/gripper_controllers/test/test_gripper_controllers.hpp
@@ -57,9 +57,12 @@ class GripperControllerTest : public ::testing::Test
   std::vector<double> joint_states_ = {1.1, 2.1};
   std::vector<double> joint_commands_ = {3.1};
 
-  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]};
+  std::shared_ptr<StateInterface> joint_1_pos_state_ =
+    std::make_shared<StateInterface>(joint_name_, HW_IF_POSITION, &joint_states_[0]);
+  std::shared_ptr<StateInterface> joint_1_vel_state_ =
+    std::make_shared<StateInterface>(joint_name_, HW_IF_VELOCITY, &joint_states_[1]);
+  std::shared_ptr<CommandInterface> joint_1_pos_cmd_ =
+    std::make_shared<CommandInterface>(joint_name_, HW_IF_POSITION, &joint_commands_[0]);
 };
 
 #endif  // TEST_GRIPPER_CONTROLLERS_HPP_