diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/formatting.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/formatting.hpp
index e44d5dd3..debb2e86 100644
--- a/lbr_fri_ros2/include/lbr_fri_ros2/formatting.hpp
+++ b/lbr_fri_ros2/include/lbr_fri_ros2/formatting.hpp
@@ -61,7 +61,7 @@ struct EnumMaps {
     case KUKA::FRI::EClientCommandMode::POSITION:
       return "POSITION";
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
+#if FRICLIENT_VERSION_MAJOR >= 2
     case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
       return "JOINT_POSITION";
     case KUKA::FRI::EClientCommandMode::CARTESIAN_POSE:
diff --git a/lbr_fri_ros2/src/async_client.cpp b/lbr_fri_ros2/src/async_client.cpp
index a32e7ae1..5c572fcc 100644
--- a/lbr_fri_ros2/src/async_client.cpp
+++ b/lbr_fri_ros2/src/async_client.cpp
@@ -21,7 +21,7 @@ AsyncClient::AsyncClient(const KUKA::FRI::EClientCommandMode &client_command_mod
 #if FRICLIENT_VERSION_MAJOR == 1
   case KUKA::FRI::EClientCommandMode::POSITION:
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
+#if FRICLIENT_VERSION_MAJOR >= 2
   case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
 #endif
   {
diff --git a/lbr_fri_ros2/src/interfaces/position_command.cpp b/lbr_fri_ros2/src/interfaces/position_command.cpp
index 786fd479..0a81bfe6 100644
--- a/lbr_fri_ros2/src/interfaces/position_command.cpp
+++ b/lbr_fri_ros2/src/interfaces/position_command.cpp
@@ -19,7 +19,7 @@ void PositionCommandInterface::buffered_command_to_fri(fri_command_t_ref command
     throw std::runtime_error(err);
   }
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
+#if FRICLIENT_VERSION_MAJOR >= 2
   if (state.client_command_mode != KUKA::FRI::EClientCommandMode::JOINT_POSITION) {
     std::string err =
         "Expected robot in " +
diff --git a/lbr_fri_ros2/test/test_command_interfaces.cpp b/lbr_fri_ros2/test/test_command_interfaces.cpp
index 9f956ca0..3ab403cb 100644
--- a/lbr_fri_ros2/test/test_command_interfaces.cpp
+++ b/lbr_fri_ros2/test/test_command_interfaces.cpp
@@ -36,7 +36,7 @@ class TestCommandInterfaces : public ::testing::Test {
 #if FRICLIENT_VERSION_MAJOR == 1
     case KUKA::FRI::EClientCommandMode::POSITION:
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
+#if FRICLIENT_VERSION_MAJOR >= 2
     case KUKA::FRI::EClientCommandMode::JOINT_POSITION:
 #endif
     {
@@ -146,7 +146,7 @@ TEST_F(TestCommandInterfaces, TestPositionCommandInterface) {
 #if FRICLIENT_VERSION_MAJOR == 1
   set_up(KUKA::FRI::EClientCommandMode::POSITION);
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
+#if FRICLIENT_VERSION_MAJOR >= 2
   set_up(KUKA::FRI::EClientCommandMode::JOINT_POSITION);
 #endif
   test_simple();
diff --git a/lbr_fri_ros2_stack/package.xml b/lbr_fri_ros2_stack/package.xml
index c3679e7b..fc3ff906 100644
--- a/lbr_fri_ros2_stack/package.xml
+++ b/lbr_fri_ros2_stack/package.xml
@@ -9,12 +9,12 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>lbr_fri_idl</depend>
+  <depend>lbr_fri_ros2</depend>
+  <depend>lbr_ros2_control</depend>
+
   <exec_depend>lbr_bringup</exec_depend>
-  <exec_depend>lbr_demos</exec_depend>
   <exec_depend>lbr_description</exec_depend>
-  <exec_depend>lbr_fri_idl</exec_depend>
-  <exec_depend>lbr_fri_ros2</exec_depend>
-  <exec_depend>lbr_ros2_control</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/lbr_ros2_control/config/lbr_system_interface.xacro b/lbr_ros2_control/config/lbr_system_interface.xacro
index cbb7d1db..8c78b289 100644
--- a/lbr_ros2_control/config/lbr_system_interface.xacro
+++ b/lbr_ros2_control/config/lbr_system_interface.xacro
@@ -103,7 +103,9 @@
                     <state_interface name="velocity" />
                     <state_interface name="effort" />
                     <xacro:unless value="${sim}">
-                        <state_interface name="commanded_joint_position" />
+                        <xacro:if value="${system_parameters['fri_client_version']['major'] == 1}">
+                            <state_interface name="commanded_joint_position" />
+                        </xacro:if>
                         <state_interface name="commanded_torque" />
                         <state_interface name="external_torque" />
                         <state_interface name="ipo_joint_position" />
diff --git a/lbr_ros2_control/config/lbr_system_parameters.yaml b/lbr_ros2_control/config/lbr_system_parameters.yaml
index ff044a74..eee534db 100644
--- a/lbr_ros2_control/config/lbr_system_parameters.yaml
+++ b/lbr_ros2_control/config/lbr_system_parameters.yaml
@@ -1,4 +1,8 @@
 # these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
+fri_client_version: # FRI client version is used to determine required interfaces in lbr_system_interface.xacro
+  major: 1
+  minor: 15
+
 hardware:
   client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
   port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
@@ -11,7 +15,7 @@ hardware:
   pid_i_min: 0.0 # min integral value for the joint position command
   pid_antiwindup: false # enable antiwindup for the joint position command
   command_guard_variant: default # if requested position / velocities beyond limits, CommandGuard will be triggered and shut the connection. Available: [default, safe_stop]
-  external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz] 
+  external_torque_cutoff_frequency: 10 # low-pass filter for the external joint torque measurements [Hz]
   measured_torque_cutoff_frequency: 10 # low-pass filter for the joint torque measurements [Hz]
   open_loop: true # KUKA works the best in open_loop control mode
 
diff --git a/lbr_ros2_control/include/lbr_ros2_control/system_interface.hpp b/lbr_ros2_control/include/lbr_ros2_control/system_interface.hpp
index f8756b19..9f4350cc 100644
--- a/lbr_ros2_control/include/lbr_ros2_control/system_interface.hpp
+++ b/lbr_ros2_control/include/lbr_ros2_control/system_interface.hpp
@@ -34,7 +34,7 @@ struct SystemInterfaceParameters {
 #if FRICLIENT_VERSION_MAJOR == 1
   KUKA::FRI::EClientCommandMode client_command_mode{KUKA::FRI::EClientCommandMode::POSITION};
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
+#if FRICLIENT_VERSION_MAJOR >= 2
   KUKA::FRI::EClientCommandMode client_command_mode{KUKA::FRI::EClientCommandMode::JOINT_POSITION};
 #endif
   int32_t port_id{30200};
@@ -68,7 +68,12 @@ class SystemInterface : public hardware_interface::SystemInterface {
 protected:
   static constexpr char LOGGER_NAME[] = "lbr_ros2_control::SystemInterface";
 
+#if FRICLIENT_VERSION_MAJOR == 1
   static constexpr uint8_t LBR_FRI_STATE_INTERFACE_SIZE = 7;
+#endif
+#if FRICLIENT_VERSION_MAJOR >= 2
+  static constexpr uint8_t LBR_FRI_STATE_INTERFACE_SIZE = 6;
+#endif
   static constexpr uint8_t LBR_FRI_COMMAND_INTERFACE_SIZE = 2;
   static constexpr uint8_t LBR_FRI_SENSORS = 2;
   static constexpr uint8_t AUXILIARY_SENSOR_SIZE = 12;
diff --git a/lbr_ros2_control/src/system_interface.cpp b/lbr_ros2_control/src/system_interface.cpp
index 4dae0dc0..6ed6d513 100644
--- a/lbr_ros2_control/src/system_interface.cpp
+++ b/lbr_ros2_control/src/system_interface.cpp
@@ -325,7 +325,7 @@ bool SystemInterface::parse_parameters_(const hardware_interface::HardwareInfo &
 #if FRICLIENT_VERSION_MAJOR == 1
       parameters_.client_command_mode = KUKA::FRI::EClientCommandMode::POSITION;
 #endif
-#if FRICLIENT_VERSION_MAJOR == 2
+#if FRICLIENT_VERSION_MAJOR >= 2
       parameters_.client_command_mode = KUKA::FRI::EClientCommandMode::JOINT_POSITION;
 #endif
     } else if (client_command_mode == "torque") {