diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
index 38faed8bc6..7e029397f7 100644
--- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
+++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
@@ -465,8 +465,10 @@ def _jtc_joint_names(jtc_info):
     joint_names = []
     for interface in jtc_info.required_state_interfaces:
         name = "/".join(interface.split("/")[:-1])
+        interface_type = interface.split("/")[-1]
         if name not in joint_names:
-            joint_names.append(name)
+            if interface_type == "position":
+                joint_names.append(name)
 
     return joint_names