diff --git a/doc/release_notes.rst b/doc/release_notes.rst
index 6cbbbe06c6..ffc28767ae 100644
--- a/doc/release_notes.rst
+++ b/doc/release_notes.rst
@@ -31,6 +31,7 @@ joint_state_broadcaster
 * Added parameter ``publish_dynamic_joint_states`` to enable/disable publishing of dynamic joint states. (`#2064 <https://github.com/ros-controls/ros2_controllers/pull/2064>`_)
 * Removed interfaces with other data types than double for publishing to ``dynamic_joint_states``. (`#2115 <https://github.com/ros-controls/ros2_controllers/pull/2115>`_)
 * Parameter ``publish_dynamic_joint_states`` is now deprecated (default changed to ``false``).
+* New parameters ``initial_value.position``, ``initial_value.velocity``, and ``initial_value.effort`` to set the initial values for interfaces
 
 omni_wheel_drive_controller
 *****************************
diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
index b24152b0d8..2292654892 100644
--- a/joint_state_broadcaster/src/joint_state_broadcaster.cpp
+++ b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
@@ -264,7 +264,23 @@ bool JointStateBroadcaster::init_joint_data()
     {
       interface_name = map_interface_to_joint_state_[interface_name];
     }
-    name_if_value_mapping_[prefix_name][interface_name] = kUninitializedValue;
+
+    if (interface_name == HW_IF_POSITION)
+    {
+      name_if_value_mapping_[prefix_name][interface_name] = params_.initial_value.position;
+    }
+    else if (interface_name == HW_IF_VELOCITY)
+    {
+      name_if_value_mapping_[prefix_name][interface_name] = params_.initial_value.velocity;
+    }
+    else if (interface_name == HW_IF_EFFORT)
+    {
+      name_if_value_mapping_[prefix_name][interface_name] = params_.initial_value.effort;
+    }
+    else
+    {
+      name_if_value_mapping_[prefix_name][interface_name] = kUninitializedValue;
+    }
 
     // filter state interfaces that have at least one of the joint_states fields,
     // the rest will be ignored for this message
@@ -345,9 +361,9 @@ void JointStateBroadcaster::init_joint_state_msg()
   // default initialization for joint state message
   joint_state_msg_.header.frame_id = frame_id_;
   joint_state_msg_.name = joint_names_;
-  joint_state_msg_.position.resize(num_joints, kUninitializedValue);
-  joint_state_msg_.velocity.resize(num_joints, kUninitializedValue);
-  joint_state_msg_.effort.resize(num_joints, kUninitializedValue);
+  joint_state_msg_.position.resize(num_joints, params_.initial_value.position);
+  joint_state_msg_.velocity.resize(num_joints, params_.initial_value.velocity);
+  joint_state_msg_.effort.resize(num_joints, params_.initial_value.effort);
 
   // save joint state data
   auto get_address =
@@ -361,16 +377,33 @@ void JointStateBroadcaster::init_joint_state_msg()
     }
     else
     {
-      return kUninitializedValue;
+      if (interface_name == HW_IF_POSITION)
+      {
+        return params_.initial_value.position;
+      }
+      else if (interface_name == HW_IF_VELOCITY)
+      {
+        return params_.initial_value.velocity;
+      }
+      else if (interface_name == HW_IF_EFFORT)
+      {
+        return params_.initial_value.effort;
+      }
+      else
+      {
+        return kUninitializedValue;
+      }
     }
   };
 
   joint_states_data_.clear();
   for (auto i = 0u; i < joint_names_.size(); ++i)
   {
-    joint_states_data_.push_back(JointStateData(
-      get_address(joint_names_[i], HW_IF_POSITION), get_address(joint_names_[i], HW_IF_VELOCITY),
-      get_address(joint_names_[i], HW_IF_EFFORT)));
+    joint_states_data_.push_back(JointStateData{
+      get_address(joint_names_[i], HW_IF_POSITION),
+      get_address(joint_names_[i], HW_IF_VELOCITY),
+      get_address(joint_names_[i], HW_IF_EFFORT),
+    });
   }
 }
 
@@ -388,7 +421,7 @@ void JointStateBroadcaster::init_dynamic_joint_state_msg()
     for (const auto & interface_and_value : interfaces_and_values)
     {
       if_value.interface_names.emplace_back(interface_and_value.first);
-      if_value.values.emplace_back(kUninitializedValue);
+      if_value.values.emplace_back(std::numeric_limits<double>::quiet_NaN());
     }
     dynamic_joint_state_msg_.interface_values.emplace_back(if_value);
   }
diff --git a/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml b/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml
index 2993dddceb..9912cca3f8 100644
--- a/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml
+++ b/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml
@@ -30,6 +30,25 @@ joint_state_broadcaster:
     If either ``joints`` or ``interfaces`` is left empty, all available state interfaces will be
     published."
   }
+  initial_value:
+    position: {
+      type: double,
+      default_value: .nan,
+      read_only: true,
+      description: "Initial joint position value."
+    }
+    velocity: {
+      type: double,
+      default_value: .nan,
+      read_only: true,
+      description: "Initial joint velocity value."
+    }
+    effort: {
+      type: double,
+      default_value: .nan,
+      read_only: true,
+      description: "Initial joint effort value."
+    }
   map_interface_to_joint_state:
     position: {
       type: string,