diff --git a/admittance_controller/include/admittance_controller/admittance_rule.hpp b/admittance_controller/include/admittance_controller/admittance_rule.hpp
index 36c027491c..2a6d755104 100644
--- a/admittance_controller/include/admittance_controller/admittance_rule.hpp
+++ b/admittance_controller/include/admittance_controller/admittance_rule.hpp
@@ -109,7 +109,8 @@ class AdmittanceRule
 
   /// Configure admittance rule memory using number of joints.
   controller_interface::return_type configure(
-    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint);
+    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint,
+    const std::string & robot_description);
 
   /// Reset all values back to default
   controller_interface::return_type reset(const size_t num_joints);
diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
index 9b03924882..bf72b3a408 100644
--- a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
+++ b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -20,6 +20,7 @@
 #include "admittance_controller/admittance_rule.hpp"
 
 #include <memory>
+#include <string>
 #include <vector>
 
 #include "rclcpp/duration.hpp"
@@ -33,7 +34,8 @@ constexpr auto NUM_CARTESIAN_DOF = 6;  // (3 translation + 3 rotation)
 
 /// Configure admittance rule memory for num joints and load kinematics interface
 controller_interface::return_type AdmittanceRule::configure(
-  const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints)
+  const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints,
+  const std::string & robot_description)
 {
   num_joints_ = num_joints;
 
@@ -51,7 +53,7 @@ controller_interface::return_type AdmittanceRule::configure(
       kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
       if (!kinematics_->initialize(
-            node->get_node_parameters_interface(), parameters_.kinematics.tip))
+            node->get_node_parameters_interface(), parameters_.kinematics.tip, robot_description))
       {
         return controller_interface::return_type::ERROR;
       }
diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
index c6a8168736..9db5121bf6 100644
--- a/admittance_controller/src/admittance_controller.cpp
+++ b/admittance_controller/src/admittance_controller.cpp
@@ -284,7 +284,9 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
     semantic_components::ForceTorqueSensor(admittance_->parameters_.ft_sensor.name));
 
   // configure admittance rule
-  if (admittance_->configure(get_node(), num_joints_) == controller_interface::return_type::ERROR)
+  if (
+    admittance_->configure(get_node(), num_joints_, urdf_) ==
+    controller_interface::return_type::ERROR)
   {
     return controller_interface::CallbackReturn::ERROR;
   }
@@ -394,6 +396,12 @@ controller_interface::return_type AdmittanceController::update_and_write_command
     return controller_interface::return_type::ERROR;
   }
 
+  if (period.seconds() > 5.0) {
+    RCLCPP_WARN(
+        get_node()->get_logger(), "Large dt, skipping!");
+    return controller_interface::return_type::OK;
+  }
+
   // update input reference from chainable interfaces
   read_state_reference_interfaces(reference_);