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I managed to solve it. It turned out to be a stupid copy-paste mistake. In my XACRO file, I had the following interface,

<xacro:macro name="transmission_block" params="joint_name idx">
      <transmission name="tran_${idx}">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="${joint_name}">
          <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor__${idx}">
          <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
          <mechanicalReduction>1</mechanicalReduction>
        </actuator>
      </transmission>
</xacro:macro>

In reality it should be an EffortJointInterface, instead of a PositionJointInterface

<xacro:macro name="transmission_block" params="joint_name idx">
      <transmission name="tran_${idx}">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="${joint_name}">
          <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor__${idx}">
          <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
          <mechanicalReduction>1</mechanicalReduction>
        </actuator>
      </transmission>
</xacro:macro>