diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
index e486302c4c..2108bab17c 100644
--- a/hardware_interface/CMakeLists.txt
+++ b/hardware_interface/CMakeLists.txt
@@ -54,23 +54,6 @@ target_compile_definitions(mock_components PRIVATE "HARDWARE_INTERFACE_BUILDING_
 pluginlib_export_plugin_description_file(
   hardware_interface mock_components_plugin_description.xml)
 
-add_library(fake_components SHARED
-  src/mock_components/generic_system.cpp
-  src/mock_components/fake_generic_system.cpp
-)
-target_compile_features(fake_components PUBLIC cxx_std_17)
-target_include_directories(fake_components PUBLIC
-  $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include/hardware_interface>
-)
-ament_target_dependencies(fake_components PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(fake_components PRIVATE "HARDWARE_INTERFACE_BUILDING_DLL")
-
-pluginlib_export_plugin_description_file(
-  hardware_interface fake_components_plugin_description.xml)
-
 if(BUILD_TESTING)
 
   find_package(ament_cmake_gmock REQUIRED)
@@ -145,7 +128,6 @@ install(
 )
 install(
   TARGETS
-    fake_components
     mock_components
     hardware_interface
   EXPORT export_hardware_interface
diff --git a/hardware_interface/fake_components_plugin_description.xml b/hardware_interface/fake_components_plugin_description.xml
deleted file mode 100644
index 604170849a..0000000000
--- a/hardware_interface/fake_components_plugin_description.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<library path="fake_components">
-
-  <class name="fake_components/GenericSystem" type="fake_components::GenericSystem" base_class_type="hardware_interface::SystemInterface">
-    <description>
-      Generic components for simple faking of system hardware.
-    </description>
-  </class>
-
-</library>
diff --git a/hardware_interface/include/fake_components/generic_system.hpp b/hardware_interface/include/fake_components/generic_system.hpp
deleted file mode 100644
index 3dfb2b9b70..0000000000
--- a/hardware_interface/include/fake_components/generic_system.hpp
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright (c) 2021 PickNik, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-// Author: Jafar Abdi, Denis Stogl
-
-#ifndef FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_
-#define FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_
-
-#include "mock_components/generic_system.hpp"
-
-namespace fake_components
-{
-using GenericSystem [[deprecated]] = mock_components::GenericSystem;
-
-using GenericSystem [[deprecated]] = mock_components::GenericRobot;
-}  // namespace fake_components
-
-#endif  // FAKE_COMPONENTS__GENERIC_SYSTEM_HPP_
diff --git a/hardware_interface/include/fake_components/visibility_control.h b/hardware_interface/include/fake_components/visibility_control.h
deleted file mode 100644
index 1e60a9d990..0000000000
--- a/hardware_interface/include/fake_components/visibility_control.h
+++ /dev/null
@@ -1,49 +0,0 @@
-// Copyright (c) 2021 PickNik, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef FAKE_COMPONENTS__VISIBILITY_CONTROL_H_
-#define FAKE_COMPONENTS__VISIBILITY_CONTROL_H_
-
-// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
-//     https://gcc.gnu.org/wiki/Visibility
-
-#if defined _WIN32 || defined __CYGWIN__
-#ifdef __GNUC__
-#define FAKE_COMPONENTS_EXPORT __attribute__((dllexport))
-#define FAKE_COMPONENTS_IMPORT __attribute__((dllimport))
-#else
-#define FAKE_COMPONENTS_EXPORT __declspec(dllexport)
-#define FAKE_COMPONENTS_IMPORT __declspec(dllimport)
-#endif
-#ifdef FAKE_COMPONENTS_BUILDING_DLL
-#define FAKE_COMPONENTS_PUBLIC FAKE_COMPONENTS_EXPORT
-#else
-#define FAKE_COMPONENTS_PUBLIC FAKE_COMPONENTS_IMPORT
-#endif
-#define FAKE_COMPONENTS_PUBLIC_TYPE FAKE_COMPONENTS_PUBLIC
-#define FAKE_COMPONENTS_LOCAL
-#else
-#define FAKE_COMPONENTS_EXPORT __attribute__((visibility("default")))
-#define FAKE_COMPONENTS_IMPORT
-#if __GNUC__ >= 4
-#define FAKE_COMPONENTS_PUBLIC __attribute__((visibility("default")))
-#define FAKE_COMPONENTS_LOCAL __attribute__((visibility("hidden")))
-#else
-#define FAKE_COMPONENTS_PUBLIC
-#define FAKE_COMPONENTS_LOCAL
-#endif
-#define FAKE_COMPONENTS_PUBLIC_TYPE
-#endif
-
-#endif  // FAKE_COMPONENTS__VISIBILITY_CONTROL_H_
diff --git a/hardware_interface/src/mock_components/fake_generic_system.cpp b/hardware_interface/src/mock_components/fake_generic_system.cpp
deleted file mode 100644
index 736575c8a6..0000000000
--- a/hardware_interface/src/mock_components/fake_generic_system.cpp
+++ /dev/null
@@ -1,19 +0,0 @@
-// Copyright (c) 2022 PickNik, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-// Author: Jafar Abdi, Denis Stogl
-
-#include "fake_components/generic_system.hpp"
-#include "pluginlib/class_list_macros.hpp"
-PLUGINLIB_EXPORT_CLASS(fake_components::GenericSystem, hardware_interface::SystemInterface)
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
index 1b339c71ce..7b62af105b 100644
--- a/hardware_interface/src/mock_components/generic_system.cpp
+++ b/hardware_interface/src/mock_components/generic_system.cpp
@@ -79,20 +79,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
   }
   else
   {
-    // check if fake_sensor_commands was set instead and issue warning.
-    it = info_.hardware_parameters.find("fake_sensor_commands");
-    if (it != info_.hardware_parameters.end())
-    {
-      use_mock_sensor_command_interfaces_ = hardware_interface::parse_bool(it->second);
-      RCUTILS_LOG_WARN_NAMED(
-        "mock_generic_system",
-        "Parameter 'fake_sensor_commands' has been deprecated from usage. Use"
-        "'mock_sensor_commands' instead.");
-    }
-    else
-    {
-      use_mock_sensor_command_interfaces_ = false;
-    }
+    use_mock_sensor_command_interfaces_ = false;
   }
 
   // check if to create mock command interface for gpio
@@ -103,20 +90,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
   }
   else
   {
-    // check if fake_gpio_commands was set instead and issue warning
-    it = info_.hardware_parameters.find("fake_gpio_commands");
-    if (it != info_.hardware_parameters.end())
-    {
-      use_mock_gpio_command_interfaces_ = hardware_interface::parse_bool(it->second);
-      RCUTILS_LOG_WARN_NAMED(
-        "mock_generic_system",
-        "Parameter 'fake_gpio_commands' has been deprecated from usage. Use"
-        "'mock_gpio_commands' instead.");
-    }
-    else
-    {
-      use_mock_gpio_command_interfaces_ = false;
-    }
+    use_mock_gpio_command_interfaces_ = false;
   }
 
   // check if there is parameter that disables commands
@@ -707,7 +681,6 @@ void GenericSystem::initialize_storage_vectors(
   }
 
   // Initialize with values from URDF
-  bool print_hint = false;
   for (auto i = 0u; i < component_infos.size(); i++)
   {
     const auto & component = component_infos[i];
@@ -725,33 +698,9 @@ void GenericSystem::initialize_storage_vectors(
         {
           states[index][i] = parse_double(interface.initial_value);
         }
-        else
-        {
-          // Initialize the value in old way with warning message
-          auto it2 = component.parameters.find("initial_" + interface.name);
-          if (it2 != component.parameters.end())
-          {
-            states[index][i] = parse_double(it2->second);
-            print_hint = true;
-          }
-          else
-          {
-            print_hint = true;
-          }
-        }
       }
     }
   }
-  if (print_hint)
-  {
-    RCUTILS_LOG_WARN_ONCE_NAMED(
-      "mock_generic_system",
-      "Parsing of optional initial interface values failed or uses a deprecated format. Add "
-      "initial values for every state interface in the ros2_control.xacro. For example: \n"
-      "<state_interface name=\"velocity\"> \n"
-      "  <param name=\"initial_value\">0.0</param> \n"
-      "</state_interface>");
-  }
 }
 
 template <typename InterfaceType>
diff --git a/hardware_interface/test/mock_components/test_generic_system.cpp b/hardware_interface/test/mock_components/test_generic_system.cpp
index 9556ed6f8b..57b5796d0d 100644
--- a/hardware_interface/test/mock_components/test_generic_system.cpp
+++ b/hardware_interface/test/mock_components/test_generic_system.cpp
@@ -40,128 +40,120 @@ const auto COMPARE_DELTA = 0.0001;
 class TestGenericSystem : public ::testing::Test
 {
 public:
-  void test_generic_system_with_mimic_joint(std::string & urdf);
-  void test_generic_system_with_mock_sensor_commands(std::string & urdf);
-  void test_generic_system_with_mock_gpio_commands(std::string & urdf);
+  void test_generic_system_with_mimic_joint(std::string & urdf, const std::string & component_name);
+  void test_generic_system_with_mock_sensor_commands(
+    std::string & urdf, const std::string & component_name);
+  void test_generic_system_with_mock_gpio_commands(
+    std::string & urdf, const std::string & component_name);
 
 protected:
   void SetUp() override
   {
-    // REMOVE THIS MEMBER ONCE FAKE COMPONENTS ARE REMOVED
-    hardware_fake_system_2dof_ =
-      R"(
-  <ros2_control name="GenericSystem2dof" type="system">
-    <hardware>
-      <plugin>fake_components/GenericSystem</plugin>
-    </hardware>
-    <joint name="joint1">
-      <command_interface name="position"/>
-      <state_interface name="position"/>
-      <param name="initial_position">1.57</param>
-    </joint>
-    <joint name="joint2">
-      <command_interface name="position"/>
-      <state_interface name="position"/>
-      <param name="initial_position">0.7854</param>
-    </joint>
-  </ros2_control>
-)";
-
     hardware_system_2dof_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
-      <state_interface name="position"/>
-      <param name="initial_position">1.57</param>
+      <state_interface name="position">
+        <param name="initial_value">1.57</param>
+      </state_interface>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
-      <state_interface name="position"/>
-      <param name="initial_position">0.7854</param>
+      <state_interface name="position">
+        <param name="initial_value">0.7854</param>
+      </state_interface>
     </joint>
   </ros2_control>
 )";
 
     hardware_system_2dof_asymetric_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofAsymetric" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
-      <state_interface name="velocity"/>
-      <param name="initial_position">1.57</param>
+      <state_interface name="velocity">
+        <param name="initial_value">1.57</param>
+      </state_interface>
     </joint>
     <joint name="joint2">
       <command_interface name="acceleration"/>
-      <state_interface name="position"/>
-      <param name="initial_position">0.7854</param>
-      <param name="initial_acceleration">0.8554</param>
+      <state_interface name="position">
+        <param name="initial_value">0.7854</param>
+      </state_interface>
     </joint>
   </ros2_control>
 )";
 
     hardware_system_2dof_standard_interfaces_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofStandardInterfaces" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">3.45</param>
+      </state_interface>
       <state_interface name="velocity"/>
-      <param name="initial_position">3.45</param>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">2.78</param>
+      </state_interface>
       <state_interface name="velocity"/>
-      <param name="initial_position">2.78</param>
     </joint>
   </ros2_control>
 )";
 
     hardware_system_2dof_with_other_interface_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofWithOtherInterface" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-      <param name="initial_position">1.55</param>
-      <param name="initial_velocity">0.1</param>
+      <state_interface name="position">
+        <param name="initial_value">1.55</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.1</param>
+      </state_interface>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-      <param name="initial_position">0.65</param>
-      <param name="initial_velocity">0.2</param>
+      <state_interface name="position">
+        <param name="initial_value">0.65</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.2</param>
+      </state_interface>
     </joint>
     <joint name="voltage_output">
       <command_interface name="voltage"/>
-      <state_interface name="voltage"/>
-      <param name="initial_voltage">0.5</param>
+      <state_interface name="voltage">
+        <param name="initial_value">0.5</param>
+      </state_interface>
     </joint>
   </ros2_control>
 )";
 
     hardware_system_2dof_with_sensor_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofWithSensor" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
@@ -189,7 +181,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_with_sensor_mock_command_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofWithSensorMockCommand" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="mock_sensor_commands">true</param>
@@ -218,10 +210,10 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_with_sensor_mock_command_True_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofWithSensorMockCommandTrue" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
-      <param name="fake_sensor_commands">True</param>
+      <param name="mock_sensor_commands">True</param>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
@@ -247,16 +239,17 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_with_mimic_joint_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofWithMimicJoint" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">1.57</param>
+      </state_interface>
       <state_interface name="velocity"/>
-      <param name="initial_position">1.57</param>
     </joint>
     <joint name="joint2">
       <param name="mimic">joint1</param>
@@ -271,7 +264,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_standard_interfaces_with_offset_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofStandardInterfacesWithOffset" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="position_state_following_offset">-3</param>
@@ -297,7 +290,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_missing_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofStandardInterfacesWithCustomInterfaceForOffsetMissing" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="position_state_following_offset">-3</param>
@@ -306,23 +299,29 @@ class TestGenericSystem : public ::testing::Test
     <joint name="joint1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-      <param name="initial_position">3.45</param>
+      <state_interface name="position">
+        <param name="initial_value">3.45</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-      <param name="initial_position">2.78</param>
+      <state_interface name="position">
+        <param name="initial_value">2.78</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
     </joint>
   </ros2_control>
 )";
 
     hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofStandardInterfacesWithCustomInterfaceForOffset" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="position_state_following_offset">-3</param>
@@ -331,25 +330,29 @@ class TestGenericSystem : public ::testing::Test
     <joint name="joint1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">3.45</param>
+      </state_interface>
       <state_interface name="velocity"/>
       <state_interface name="actual_position"/>
-      <param name="initial_position">3.45</param>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
+      <state_interface name="position">
+        <param name="initial_value">2.78</param>
+      </state_interface>
+      <state_interface name="velocity">
+        <param name="initial_value">0.0</param>
+      </state_interface>
       <state_interface name="actual_position"/>
-      <param name="initial_position">2.78</param>
     </joint>
   </ros2_control>
 )";
 
     valid_urdf_ros2_control_system_robot_with_gpio_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="ValidURDFros2controlSystemRobotWithGPIO" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="example_param_write_for_sec">2</param>
@@ -366,9 +369,10 @@ class TestGenericSystem : public ::testing::Test
     <joint name="joint2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">2.78</param>
+      </state_interface>
       <state_interface name="velocity"/>
-      <param name="initial_position">2.78</param>
     </joint>
     <gpio name="flange_analog_IOs">
       <command_interface name="analog_output1" data_type="double"/>
@@ -385,7 +389,7 @@ class TestGenericSystem : public ::testing::Test
 
     valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="ValidURDFros2controlSystemRobotWithGPIOMockCommand" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="mock_gpio_commands">true</param>
@@ -393,16 +397,18 @@ class TestGenericSystem : public ::testing::Test
     <joint name="joint1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">3.45</param>
+      </state_interface>
       <state_interface name="velocity"/>
-      <param name="initial_position">3.45</param>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">2.78</param>
+      </state_interface>
       <state_interface name="velocity"/>
-      <param name="initial_position">2.78</param>
     </joint>
     <gpio name="flange_analog_IOs">
       <command_interface name="analog_output1" data_type="double"/>
@@ -419,24 +425,26 @@ class TestGenericSystem : public ::testing::Test
 
     valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="ValidURDFros2controlSystemRobotWithGPIOMockCommandTrue" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
-      <param name="fake_gpio_commands">True</param>
+      <param name="mock_gpio_commands">True</param>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">3.45</param>
+      </state_interface>
       <state_interface name="velocity"/>
-      <param name="initial_position">3.45</param>
     </joint>
     <joint name="joint2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <state_interface name="position"/>
+      <state_interface name="position">
+        <param name="initial_value">2.78</param>
+      </state_interface>
       <state_interface name="velocity"/>
-      <param name="initial_position">2.78</param>
     </joint>
     <gpio name="flange_analog_IOs">
       <command_interface name="analog_output1" data_type="double"/>
@@ -453,9 +461,9 @@ class TestGenericSystem : public ::testing::Test
 
     sensor_with_initial_value_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="SensorWithInitialValue" type="system">
     <hardware>
-      <plugin>fake_components/GenericSystem</plugin>
+      <plugin>mock_components/GenericSystem</plugin>
     </hardware>
     <sensor name="force_sensor">
       <state_interface name="force.x">
@@ -473,9 +481,9 @@ class TestGenericSystem : public ::testing::Test
 
     gpio_with_initial_value_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="GPIOWithInitialValue" type="system">
     <hardware>
-      <plugin>fake_components/GenericSystem</plugin>
+      <plugin>mock_components/GenericSystem</plugin>
     </hardware>
     <gpio name="sample_io">
       <state_interface name="output_1">
@@ -487,7 +495,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_standard_interfaces_with_different_control_modes_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="HardwareSystem2dofStandardInterfacesWithDifferentControlModes" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="calculate_dynamics">true</param>
@@ -560,9 +568,9 @@ class TestGenericSystem : public ::testing::Test
 
     disabled_commands_ =
       R"(
-  <ros2_control name="GenericSystem2dof" type="system">
+  <ros2_control name="DisabledCommands" type="system">
     <hardware>
-      <plugin>fake_components/GenericSystem</plugin>
+      <plugin>mock_components/GenericSystem</plugin>
       <param name="disable_commands">True</param>
     </hardware>
     <joint name="joint1">
@@ -577,9 +585,7 @@ class TestGenericSystem : public ::testing::Test
 )";
   }
 
-  std::string hardware_robot_2dof_;
   std::string hardware_system_2dof_;
-  std::string hardware_fake_system_2dof_;
   std::string hardware_system_2dof_asymetric_;
   std::string hardware_system_2dof_standard_interfaces_;
   std::string hardware_system_2dof_with_other_interface_;
@@ -611,7 +617,6 @@ class TestableResourceManager : public hardware_interface::ResourceManager
 public:
   friend TestGenericSystem;
 
-  FRIEND_TEST(TestGenericSystem, generic_fake_system_2dof_symetric_interfaces);
   FRIEND_TEST(TestGenericSystem, generic_system_2dof_symetric_interfaces);
   FRIEND_TEST(TestGenericSystem, generic_system_2dof_asymetric_interfaces);
   FRIEND_TEST(TestGenericSystem, generic_system_2dof_other_interfaces);
@@ -677,37 +682,6 @@ TEST_F(TestGenericSystem, load_generic_system_2dof)
   ASSERT_NO_THROW(TestableResourceManager rm(urdf));
 }
 
-// REMOVE THIS TEST ONCE FAKE COMPONENTS ARE REMOVED
-TEST_F(TestGenericSystem, generic_fake_system_2dof_symetric_interfaces)
-{
-  auto urdf = ros2_control_test_assets::urdf_head + hardware_fake_system_2dof_ +
-              ros2_control_test_assets::urdf_tail;
-  TestableResourceManager rm(urdf);
-  // Activate components to get all interfaces available
-  activate_components(rm);
-
-  // Check interfaces
-  EXPECT_EQ(1u, rm.system_components_size());
-  ASSERT_EQ(2u, rm.state_interface_keys().size());
-  EXPECT_TRUE(rm.state_interface_exists("joint1/position"));
-  EXPECT_TRUE(rm.state_interface_exists("joint2/position"));
-
-  ASSERT_EQ(2u, rm.command_interface_keys().size());
-  EXPECT_TRUE(rm.command_interface_exists("joint1/position"));
-  EXPECT_TRUE(rm.command_interface_exists("joint2/position"));
-
-  // Check initial values
-  hardware_interface::LoanedStateInterface j1p_s = rm.claim_state_interface("joint1/position");
-  hardware_interface::LoanedStateInterface j2p_s = rm.claim_state_interface("joint2/position");
-  hardware_interface::LoanedCommandInterface j1p_c = rm.claim_command_interface("joint1/position");
-  hardware_interface::LoanedCommandInterface j2p_c = rm.claim_command_interface("joint2/position");
-
-  ASSERT_EQ(1.57, j1p_s.get_value());
-  ASSERT_EQ(0.7854, j2p_s.get_value());
-  ASSERT_TRUE(std::isnan(j1p_c.get_value()));
-  ASSERT_TRUE(std::isnan(j2p_c.get_value()));
-}
-
 // Test inspired by hardware_interface/test_resource_manager.cpp
 TEST_F(TestGenericSystem, generic_system_2dof_symetric_interfaces)
 {
@@ -715,7 +689,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_symetric_interfaces)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {"HardwareSystem2dof"});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -746,7 +720,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_asymetric_interfaces)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {"HardwareSystem2dofAsymetric"});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -782,30 +756,30 @@ TEST_F(TestGenericSystem, generic_system_2dof_asymetric_interfaces)
   hardware_interface::LoanedCommandInterface j2a_c =
     rm.claim_command_interface("joint2/acceleration");
 
-  ASSERT_EQ(0.0, j1v_s.get_value());
+  ASSERT_EQ(1.57, j1v_s.get_value());
   ASSERT_EQ(0.7854, j2p_s.get_value());
   ASSERT_TRUE(std::isnan(j1p_c.get_value()));
   ASSERT_TRUE(std::isnan(j2a_c.get_value()));
 }
 
-void generic_system_functional_test(const std::string & urdf, const double offset = 0)
+void generic_system_functional_test(
+  const std::string & urdf, const std::string component_name = "GenericSystem2dof",
+  const double offset = 0)
 {
   TestableResourceManager rm(urdf);
   // check is hardware is configured
   auto status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
+    status_map[component_name].state.label(),
     hardware_interface::lifecycle_state_names::UNCONFIGURED);
-  configure_components(rm);
+  configure_components(rm, {component_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::INACTIVE);
-  activate_components(rm);
+    status_map[component_name].state.label(), hardware_interface::lifecycle_state_names::INACTIVE);
+  activate_components(rm, {component_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::ACTIVE);
+    status_map[component_name].state.label(), hardware_interface::lifecycle_state_names::ACTIVE);
 
   // Check initial values
   hardware_interface::LoanedStateInterface j1p_s = rm.claim_state_interface("joint1/position");
@@ -881,11 +855,10 @@ void generic_system_functional_test(const std::string & urdf, const double offse
   ASSERT_EQ(0.77, j2p_c.get_value());
   ASSERT_EQ(0.88, j2v_c.get_value());
 
-  deactivate_components(rm);
+  deactivate_components(rm, {component_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::INACTIVE);
+    status_map[component_name].state.label(), hardware_interface::lifecycle_state_names::INACTIVE);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_functionality)
@@ -893,7 +866,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_standard_interfaces_ +
               ros2_control_test_assets::urdf_tail;
 
-  generic_system_functional_test(urdf);
+  generic_system_functional_test(urdf, {"HardwareSystem2dofStandardInterfaces"});
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_other_interfaces)
@@ -902,7 +875,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_other_interfaces)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {"HardwareSystem2dofWithOtherInterface"});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -985,7 +958,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {"HardwareSystem2dofWithSensor"});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1079,11 +1052,12 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor)
   ASSERT_EQ(0.33, j2p_c.get_value());
 }
 
-void TestGenericSystem::test_generic_system_with_mock_sensor_commands(std::string & urdf)
+void TestGenericSystem::test_generic_system_with_mock_sensor_commands(
+  std::string & urdf, const std::string & component_name)
 {
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {component_name});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1206,7 +1180,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_mock_command_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_sensor_commands(urdf);
+  test_generic_system_with_mock_sensor_commands(urdf, "HardwareSystem2dofWithSensorMockCommand");
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
@@ -1215,14 +1189,16 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
               hardware_system_2dof_with_sensor_mock_command_True_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_sensor_commands(urdf);
+  test_generic_system_with_mock_sensor_commands(
+    urdf, "HardwareSystem2dofWithSensorMockCommandTrue");
 }
 
-void TestGenericSystem::test_generic_system_with_mimic_joint(std::string & urdf)
+void TestGenericSystem::test_generic_system_with_mimic_joint(
+  std::string & urdf, const std::string & component_name)
 {
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {component_name});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1289,7 +1265,7 @@ TEST_F(TestGenericSystem, hardware_system_2dof_with_mimic_joint)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_mimic_joint_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mimic_joint(urdf);
+  test_generic_system_with_mimic_joint(urdf, "HardwareSystem2dofWithMimicJoint");
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset)
@@ -1298,7 +1274,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset)
               hardware_system_2dof_standard_interfaces_with_offset_ +
               ros2_control_test_assets::urdf_tail;
 
-  generic_system_functional_test(urdf, -3);
+  generic_system_functional_test(urdf, "HardwareSystem2dofStandardInterfacesWithOffset", -3);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_interface_missing)
@@ -1308,7 +1284,8 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_i
               ros2_control_test_assets::urdf_tail;
 
   // custom interface is missing so offset will not be applied
-  generic_system_functional_test(urdf, 0.0);
+  generic_system_functional_test(
+    urdf, "HardwareSystem2dofStandardInterfacesWithCustomInterfaceForOffsetMissing", 0.0);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_interface)
@@ -1321,22 +1298,23 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_i
 
   TestableResourceManager rm(urdf);
 
+  const std::string hardware_name =
+    "HardwareSystem2dofStandardInterfacesWithCustomInterfaceForOffset";
+
   // check is hardware is configured
   auto status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
+    status_map[hardware_name].state.label(),
     hardware_interface::lifecycle_state_names::UNCONFIGURED);
 
-  configure_components(rm);
+  configure_components(rm, {hardware_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::INACTIVE);
-  activate_components(rm);
+    status_map[hardware_name].state.label(), hardware_interface::lifecycle_state_names::INACTIVE);
+  activate_components(rm, {hardware_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::ACTIVE);
+    status_map[hardware_name].state.label(), hardware_interface::lifecycle_state_names::ACTIVE);
 
   // Check initial values
   hardware_interface::LoanedStateInterface j1p_s = rm.claim_state_interface("joint1/position");
@@ -1422,11 +1400,10 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_i
   ASSERT_EQ(0.77, j2p_c.get_value());
   ASSERT_EQ(0.88, j2v_c.get_value());
 
-  deactivate_components(rm);
+  deactivate_components(rm, {hardware_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::INACTIVE);
+    status_map[hardware_name].state.label(), hardware_interface::lifecycle_state_names::INACTIVE);
 }
 
 TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio)
@@ -1435,21 +1412,21 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio)
               valid_urdf_ros2_control_system_robot_with_gpio_ + ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
 
+  const std::string hardware_name = "ValidURDFros2controlSystemRobotWithGPIO";
+
   // check is hardware is started
   auto status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
+    status_map[hardware_name].state.label(),
     hardware_interface::lifecycle_state_names::UNCONFIGURED);
-  configure_components(rm);
+  configure_components(rm, {hardware_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::INACTIVE);
-  activate_components(rm);
+    status_map[hardware_name].state.label(), hardware_interface::lifecycle_state_names::INACTIVE);
+  activate_components(rm, {hardware_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::ACTIVE);
+    status_map[hardware_name].state.label(), hardware_interface::lifecycle_state_names::ACTIVE);
 
   ASSERT_EQ(8u, rm.state_interface_keys().size());
   ASSERT_EQ(6u, rm.command_interface_keys().size());
@@ -1524,28 +1501,27 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio)
   ASSERT_EQ(0.444, gpio2_vac_c.get_value());
 
   // check other functionalities are working well
-  generic_system_functional_test(urdf);
+  generic_system_functional_test(urdf, hardware_name);
 }
 
-void TestGenericSystem::test_generic_system_with_mock_gpio_commands(std::string & urdf)
+void TestGenericSystem::test_generic_system_with_mock_gpio_commands(
+  std::string & urdf, const std::string & component_name)
 {
   TestableResourceManager rm(urdf);
 
   // check is hardware is started
   auto status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
+    status_map[component_name].state.label(),
     hardware_interface::lifecycle_state_names::UNCONFIGURED);
-  configure_components(rm);
+  configure_components(rm, {component_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::INACTIVE);
-  activate_components(rm);
+    status_map[component_name].state.label(), hardware_interface::lifecycle_state_names::INACTIVE);
+  activate_components(rm, {component_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
-    status_map["GenericSystem2dof"].state.label(),
-    hardware_interface::lifecycle_state_names::ACTIVE);
+    status_map[component_name].state.label(), hardware_interface::lifecycle_state_names::ACTIVE);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1641,7 +1617,8 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_co
               valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_gpio_commands(urdf);
+  test_generic_system_with_mock_gpio_commands(
+    urdf, "ValidURDFros2controlSystemRobotWithGPIOMockCommand");
 }
 
 TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True)
@@ -1650,7 +1627,8 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_co
               valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_gpio_commands(urdf);
+  test_generic_system_with_mock_gpio_commands(
+    urdf, "ValidURDFros2controlSystemRobotWithGPIOMockCommandTrue");
 }
 
 TEST_F(TestGenericSystem, sensor_with_initial_value)
@@ -1659,7 +1637,7 @@ TEST_F(TestGenericSystem, sensor_with_initial_value)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {"SensorWithInitialValue"});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1687,7 +1665,7 @@ TEST_F(TestGenericSystem, gpio_with_initial_value)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {"GPIOWithInitialValue"});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1708,7 +1686,7 @@ TEST_F(TestGenericSystem, simple_dynamics_pos_vel_acc_control_modes_interfaces)
 
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {"HardwareSystem2dofStandardInterfacesWithDifferentControlModes"});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1902,7 +1880,7 @@ TEST_F(TestGenericSystem, disabled_commands_flag_is_active)
     ros2_control_test_assets::urdf_head + disabled_commands_ + ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm);
+  activate_components(rm, {"DisabledCommands"});
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());