diff --git a/webots_ros2_control/CMakeLists.txt b/webots_ros2_control/CMakeLists.txt
index 2755bb43e..1d82a9a68 100644
--- a/webots_ros2_control/CMakeLists.txt
+++ b/webots_ros2_control/CMakeLists.txt
@@ -35,11 +35,8 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(webots_ros2_driver REQUIRED)
 
-# Necessary hotfix for renamed variables present in "hardware_interface" package for versions above 3.5 (https://github.com/cyberbotics/webots_ros2/pull/584)
-if(${hardware_interface_VERSION_MAJOR} GREATER_EQUAL "3" AND ${hardware_interface_VERSION_MINOR} GREATER_EQUAL "5")
-  message("Using hardware_interface version ${hardware_interface_VERSION}")
-  add_compile_definitions(HARDWARE_INTERFACE_VARIABLE_RENAMING)
-endif()
+add_compile_definitions(HARDWARE_INTERFACE_VERSION_MAJOR=${hardware_interface_VERSION_MAJOR})
+add_compile_definitions(HARDWARE_INTERFACE_VERSION_MINOR=${hardware_interface_VERSION_MINOR})
 
 if (MSVC OR MSYS OR MINGW OR WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
index d28695782..bd4eb06ef 100644
--- a/webots_ros2_control/src/Ros2Control.cpp
+++ b/webots_ros2_control/src/Ros2Control.cpp
@@ -96,7 +96,8 @@ namespace webots_ros2_control
     for (unsigned int i = 0; i < controlHardware.size(); i++)
     {
 
-#if HARDWARE_INTERFACE_VARIABLE_RENAMING
+// Necessary hotfix for renamed variables present in "hardware_interface" package for versions above 3.5 (#590)
+#if HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 5
       const std::string pluginName = controlHardware[i].hardware_plugin_name;
       auto webotsSystem = std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface>(
           mHardwareLoader->createUnmanagedInstance(pluginName));