diff --git a/source/modulo_components/test/cpp/include/test_modulo_components/communication_components.hpp b/source/modulo_components/test/cpp/include/test_modulo_components/communication_components.hpp
index f9087fcb..f815aa66 100644
--- a/source/modulo_components/test/cpp/include/test_modulo_components/communication_components.hpp
+++ b/source/modulo_components/test/cpp/include/test_modulo_components/communication_components.hpp
@@ -52,6 +52,32 @@ class MinimalCartesianInput : public ComponentT {
   std::promise<void> received_;
 };
 
+template<class ComponentT>
+class ExceptionCartesianInput : public ComponentT {
+public:
+  ExceptionCartesianInput(const rclcpp::NodeOptions& node_options, const std::string& topic)
+      : ComponentT(node_options, "exception_cartesian_input"), thrown_(false) {
+    this->received_future = this->received_.get_future();
+    this->template add_input<modulo_core::EncodedState>(
+        "cartesian_state",
+        [this](const std::shared_ptr<modulo_core::EncodedState>) {
+          if (!this->thrown_) {
+            this->thrown_ = true;
+            throw std::runtime_error("Error");
+          } else {
+            this->received_.set_value();
+          }
+        },
+        topic);
+  }
+
+  std::shared_future<void> received_future;
+
+private:
+  bool thrown_;
+  std::promise<void> received_;
+};
+
 template<class ComponentT>
 class MinimalTwistOutput : public ComponentT {
 public:
diff --git a/source/modulo_components/test/cpp/test_component_communication.cpp b/source/modulo_components/test/cpp/test_component_communication.cpp
index 24596fc4..df9605eb 100644
--- a/source/modulo_components/test/cpp/test_component_communication.cpp
+++ b/source/modulo_components/test/cpp/test_component_communication.cpp
@@ -33,6 +33,17 @@ TEST_F(ComponentCommunicationTest, InputOutput) {
   EXPECT_THROW(output_node->publish(), modulo_core::exceptions::CoreException);
 }
 
+TEST_F(ComponentCommunicationTest, ExceptionInputOutput) {
+  auto cartesian_state = state_representation::CartesianState::Random("test");
+  auto input_node = std::make_shared<ExceptionCartesianInput<Component>>(rclcpp::NodeOptions(), "/topic");
+  auto output_node =
+      std::make_shared<MinimalCartesianOutput<Component>>(rclcpp::NodeOptions(), "/topic", cartesian_state, true);
+  this->exec_->add_node(input_node);
+  this->exec_->add_node(output_node);
+  auto return_code = this->exec_->spin_until_future_complete(input_node->received_future, 500ms);
+  ASSERT_EQ(return_code, rclcpp::FutureReturnCode::SUCCESS);
+}
+
 TEST_F(ComponentCommunicationTest, InputOutputManual) {
   auto cartesian_state = state_representation::CartesianState::Random("test");
   auto input_node = std::make_shared<MinimalCartesianInput<Component>>(rclcpp::NodeOptions(), "/topic");
diff --git a/source/modulo_components/test/cpp/test_lifecycle_component_communication.cpp b/source/modulo_components/test/cpp/test_lifecycle_component_communication.cpp
index c1387f61..8514b610 100644
--- a/source/modulo_components/test/cpp/test_lifecycle_component_communication.cpp
+++ b/source/modulo_components/test/cpp/test_lifecycle_component_communication.cpp
@@ -33,6 +33,17 @@ TEST_F(LifecycleComponentCommunicationTest, InputOutput) {
   EXPECT_THROW(output_node->publish(), modulo_core::exceptions::CoreException);
 }
 
+TEST_F(LifecycleComponentCommunicationTest, ExceptionInputOutput) {
+  auto cartesian_state = state_representation::CartesianState::Random("test");
+  auto input_node = std::make_shared<ExceptionCartesianInput<LifecycleComponent>>(rclcpp::NodeOptions(), "/topic");
+  auto output_node = std::make_shared<MinimalCartesianOutput<LifecycleComponent>>(
+      rclcpp::NodeOptions(), "/topic", cartesian_state, true);
+  add_configure_activate(this->exec_, input_node);
+  add_configure_activate(this->exec_, output_node);
+  auto return_code = this->exec_->spin_until_future_complete(input_node->received_future, 500ms);
+  ASSERT_EQ(return_code, rclcpp::FutureReturnCode::SUCCESS);
+}
+
 TEST_F(LifecycleComponentCommunicationTest, InputOutputManual) {
   auto cartesian_state = state_representation::CartesianState::Random("test");
   auto input_node = std::make_shared<MinimalCartesianInput<LifecycleComponent>>(rclcpp::NodeOptions(), "/topic");
diff --git a/source/modulo_components/test/python/conftest.py b/source/modulo_components/test/python/conftest.py
index af69a29b..73336dd0 100644
--- a/source/modulo_components/test/python/conftest.py
+++ b/source/modulo_components/test/python/conftest.py
@@ -1,6 +1,7 @@
 import clproto
 import pytest
 import state_representation as sr
+from types import MethodType
 from modulo_components.component import Component
 from modulo_core import EncodedState
 from rclpy.task import Future
@@ -122,6 +123,26 @@ def _make_minimal_cartesian_input(component_type, topic):
     yield _make_minimal_cartesian_input(request.param[0], request.param[1])
 
 
+@pytest.fixture
+def exception_cartesian_input(request):
+    def _make_exception_cartesian_input(component_type, topic):
+        def callback(self):
+            if not self.thrown:
+                self.thrown = True
+                raise RuntimeError()
+            else:
+                self.received_future.set_result(True)
+
+        component = component_type("exception_cartesian_input")
+        component.received_future = Future()
+        component.thrown = False
+        component.callback = MethodType(callback, component)
+        component.add_input("cartesian_pose", lambda msg: component.callback(), EncodedState, topic)
+        return component
+
+    yield _make_exception_cartesian_input(request.param[0], request.param[1])
+
+
 @pytest.fixture
 def minimal_sensor_input(request):
     def _make_minimal_sensor_input(component_type, topic):
diff --git a/source/modulo_components/test/python/test_component_communication.py b/source/modulo_components/test/python/test_component_communication.py
index a6f4d8f0..fb2d920b 100644
--- a/source/modulo_components/test/python/test_component_communication.py
+++ b/source/modulo_components/test/python/test_component_communication.py
@@ -16,6 +16,15 @@ def test_input_output(ros_exec, random_pose, minimal_cartesian_output, minimal_c
         minimal_cartesian_output.publish()
 
 
+@pytest.mark.parametrize("exception_cartesian_input", [[Component, "/topic"]], indirect=True)
+@pytest.mark.parametrize("minimal_cartesian_output", [[Component, "/topic", True]], indirect=True)
+def test_exception_input_output(ros_exec, minimal_cartesian_output, exception_cartesian_input):
+    ros_exec.add_node(exception_cartesian_input)
+    ros_exec.add_node(minimal_cartesian_output)
+    ros_exec.spin_until_future_complete(exception_cartesian_input.received_future, timeout_sec=0.5)
+    assert exception_cartesian_input.received_future.done() and exception_cartesian_input.received_future.result()
+
+
 @pytest.mark.parametrize("minimal_cartesian_input", [[Component, "/topic"]], indirect=True)
 @pytest.mark.parametrize("minimal_cartesian_output", [[Component, "/topic", False]], indirect=True)
 def test_input_output_manual(ros_exec, random_pose, minimal_cartesian_output, minimal_cartesian_input):
diff --git a/source/modulo_components/test/python/test_lifecycle_component_communication.py b/source/modulo_components/test/python/test_lifecycle_component_communication.py
index 624f7cd0..bdad7043 100644
--- a/source/modulo_components/test/python/test_lifecycle_component_communication.py
+++ b/source/modulo_components/test/python/test_lifecycle_component_communication.py
@@ -25,6 +25,24 @@ def test_input_output(ros_exec, make_lifecycle_change_client, random_pose, minim
         minimal_cartesian_output.publish()
 
 
+@pytest.mark.parametrize("exception_cartesian_input", [[LifecycleComponent, "/topic"]], indirect=True)
+@pytest.mark.parametrize("minimal_cartesian_output", [[LifecycleComponent, "/topic", True]], indirect=True)
+def test_exception_input_output(
+        ros_exec, make_lifecycle_change_client, minimal_cartesian_output, exception_cartesian_input):
+    input_change_client = make_lifecycle_change_client("exception_cartesian_input")
+    output_change_client = make_lifecycle_change_client("minimal_cartesian_output")
+    ros_exec.add_node(input_change_client)
+    ros_exec.add_node(output_change_client)
+    ros_exec.add_node(exception_cartesian_input)
+    ros_exec.add_node(minimal_cartesian_output)
+    input_change_client.configure(ros_exec)
+    output_change_client.configure(ros_exec)
+    input_change_client.activate(ros_exec)
+    output_change_client.activate(ros_exec)
+    ros_exec.spin_until_future_complete(exception_cartesian_input.received_future, timeout_sec=0.5)
+    assert exception_cartesian_input.received_future.done() and exception_cartesian_input.received_future.result()
+
+
 @pytest.mark.parametrize("minimal_cartesian_input", [[LifecycleComponent, "/topic"]], indirect=True)
 @pytest.mark.parametrize("minimal_cartesian_output", [[LifecycleComponent, "/topic", False]], indirect=True)
 def test_input_output_manual(ros_exec, make_lifecycle_change_client, random_pose, minimal_cartesian_output,