diff --git a/controller_manager/test/test_controller_manager_hardware_error_handling.cpp b/controller_manager/test/test_controller_manager_hardware_error_handling.cpp
index 0e6f4ca6c8..1ec725f8c5 100644
--- a/controller_manager/test/test_controller_manager_hardware_error_handling.cpp
+++ b/controller_manager/test/test_controller_manager_hardware_error_handling.cpp
@@ -44,8 +44,8 @@ class TestableControllerManager : public controller_manager::ControllerManager
   friend TestControllerManagerWithTestableCM;
 
   FRIEND_TEST(TestControllerManagerWithTestableCM, check_cached_controllers_for_hardware);
-  FRIEND_TEST(TestControllerManagerWithTestableCM, stop_controllers_on_read_hardware_error);
-  FRIEND_TEST(TestControllerManagerWithTestableCM, stop_controllers_on_write_hardware_error);
+  FRIEND_TEST(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_error);
+  FRIEND_TEST(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_error);
   FRIEND_TEST(TestControllerManagerWithTestableCM, stop_controllers_on_multiple_hardware_error);
 
 public:
@@ -216,11 +216,15 @@ TEST_P(TestControllerManagerWithTestableCM, check_cached_controllers_for_hardwar
   }
 }
 
-TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_read_hardware_error)
+TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_error)
 {
   auto strictness = GetParam().strictness;
   SetupAndConfigureControllers(strictness);
 
+  rclcpp_lifecycle::State state_active(
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
+    hardware_interface::lifecycle_state_names::ACTIVE);
+
   {
     EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
     EXPECT_GE(test_controller_actuator->internal_counter, 1u)
@@ -274,10 +278,6 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_read_hardware_er
 
     // here happens error in hardware and
     // "actuator controller" and "broadcaster all" are deactivated
-    auto [ok, failed_hardware_names] = cm_->resource_manager_->read(TIME, PERIOD);
-
-    EXPECT_FALSE(ok);
-
     EXPECT_NO_THROW(cm_->read(TIME, PERIOD));
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
@@ -301,19 +301,208 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_read_hardware_er
   }
 
   // Recover hardware and activate again all controllers
+  {
+    ASSERT_EQ(
+      cm_->resource_manager_->set_component_state(
+        ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_NAME, state_active),
+      hardware_interface::return_type::OK);
+    auto status_map = cm_->resource_manager_->get_components_status();
+    ASSERT_EQ(
+      status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+
+    auto previous_counter_lower = test_controller_actuator->internal_counter;
+    auto previous_counter_higher = test_controller_system->internal_counter;
+
+    switch_test_controllers(
+      {TEST_CONTROLLER_ACTUATOR_NAME, TEST_BROADCASTER_ALL_NAME}, {}, strictness);
+
+    EXPECT_GT(test_controller_actuator->internal_counter, previous_counter_lower);
+    EXPECT_LE(test_controller_actuator->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_controller_system->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_broadcaster_all->internal_counter, previous_counter_lower);
+    EXPECT_LE(test_broadcaster_all->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_broadcaster_sensor->internal_counter, previous_counter_higher);
+  }
+
+  // Simulate error in read() on TEST_ACTUATOR_HARDWARE_NAME and TEST_SYSTEM_HARDWARE_NAME
+  // by setting first command interface to READ_FAIL_VALUE
+  test_controller_actuator->set_first_command_interface_value_to = READ_FAIL_VALUE;
+  test_controller_system->set_first_command_interface_value_to = READ_FAIL_VALUE;
+  {
+    auto previous_counter_lower = test_controller_actuator->internal_counter + 1;
+    auto previous_counter_higher = test_controller_system->internal_counter + 1;
+
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
+
+    EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter_lower)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_controller_system->internal_counter, previous_counter_higher)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_broadcaster_all->internal_counter, previous_counter_lower)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_broadcaster_sensor->internal_counter, previous_counter_higher)
+      << "Execute without errors to write value";
+  }
+
+  {
+    auto previous_counter_lower = test_controller_actuator->internal_counter;
+    auto previous_counter_higher = test_controller_system->internal_counter;
+    auto new_counter = test_broadcaster_sensor->internal_counter + 1;
+
+    EXPECT_NO_THROW(cm_->read(TIME, PERIOD));
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
+      test_controller_actuator->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_controller_system->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_broadcaster_all->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_sensor->get_state().id());
+
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
+    EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter_lower)
+      << "Execute has read error and it is not updated";
+    EXPECT_EQ(test_controller_system->internal_counter, previous_counter_higher)
+      << "Execute has read error and it is not updated";
+    EXPECT_EQ(test_broadcaster_all->internal_counter, previous_counter_lower)
+      << "Broadcaster for all interfaces is not updated";
+    EXPECT_EQ(test_broadcaster_sensor->internal_counter, new_counter)
+      << "Execute without errors to write value";
+  }
+
+  // Recover hardware and activate again all controllers
+  {
+    ASSERT_EQ(
+      cm_->resource_manager_->set_component_state(
+        ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_NAME, state_active),
+      hardware_interface::return_type::OK);
+    ASSERT_EQ(
+      cm_->resource_manager_->set_component_state(
+        ros2_control_test_assets::TEST_SYSTEM_HARDWARE_NAME, state_active),
+      hardware_interface::return_type::OK);
+    auto status_map = cm_->resource_manager_->get_components_status();
+    ASSERT_EQ(
+      status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+    ASSERT_EQ(
+      status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+
+    auto previous_counter_lower = test_controller_actuator->internal_counter;
+    auto previous_counter = test_controller_system->internal_counter;
+    auto previous_counter_higher = test_broadcaster_sensor->internal_counter;
+
+    switch_test_controllers(
+      {TEST_CONTROLLER_SYSTEM_NAME, TEST_CONTROLLER_ACTUATOR_NAME, TEST_BROADCASTER_ALL_NAME}, {},
+      strictness);
+
+    EXPECT_GT(test_controller_actuator->internal_counter, previous_counter_lower);
+    EXPECT_LE(test_controller_actuator->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_controller_system->internal_counter, previous_counter);
+    EXPECT_LE(test_controller_system->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_broadcaster_all->internal_counter, previous_counter_lower);
+    EXPECT_LE(test_broadcaster_all->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_broadcaster_sensor->internal_counter, previous_counter_higher);
+  }
+}
+
+TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_error)
+{
+  auto strictness = GetParam().strictness;
+  SetupAndConfigureControllers(strictness);
+
   rclcpp_lifecycle::State state_active(
     lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
     hardware_interface::lifecycle_state_names::ACTIVE);
-  ASSERT_EQ(
-    cm_->resource_manager_->set_component_state(
-      ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_NAME, state_active),
-    hardware_interface::return_type::OK);
-  auto status_map = cm_->resource_manager_->get_components_status();
-  ASSERT_EQ(
-    status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
-    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
 
   {
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
+    EXPECT_GE(test_controller_actuator->internal_counter, 1u)
+      << "Controller is started at the end of update";
+    EXPECT_GE(test_controller_system->internal_counter, 1u)
+      << "Controller is started at the end of update";
+    EXPECT_GE(test_broadcaster_all->internal_counter, 1u)
+      << "Controller is started at the end of update";
+    EXPECT_GE(test_broadcaster_sensor->internal_counter, 1u)
+      << "Controller is started at the end of update";
+  }
+
+  EXPECT_EQ(
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller_actuator->get_state().id());
+  EXPECT_EQ(
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller_system->get_state().id());
+  EXPECT_EQ(
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_all->get_state().id());
+  EXPECT_EQ(
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_sensor->get_state().id());
+
+  // Execute first time without any errors
+  {
+    auto new_counter = test_controller_actuator->internal_counter + 1;
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
+    EXPECT_EQ(test_controller_actuator->internal_counter, new_counter) << "Execute without errors";
+    EXPECT_EQ(test_controller_system->internal_counter, new_counter) << "Execute without errors";
+    EXPECT_EQ(test_broadcaster_all->internal_counter, new_counter) << "Execute without errors";
+    EXPECT_EQ(test_broadcaster_sensor->internal_counter, new_counter) << "Execute without errors";
+  }
+
+  // Simulate error in write() on TEST_ACTUATOR_HARDWARE_NAME by setting first command interface to
+  // WRITE_FAIL_VALUE
+  test_controller_actuator->set_first_command_interface_value_to = WRITE_FAIL_VALUE;
+  {
+    auto new_counter = test_controller_actuator->internal_counter + 1;
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
+    EXPECT_EQ(test_controller_actuator->internal_counter, new_counter)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_controller_system->internal_counter, new_counter)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_broadcaster_all->internal_counter, new_counter)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_broadcaster_sensor->internal_counter, new_counter)
+      << "Execute without errors to write value";
+  }
+
+  {
+    auto previous_counter = test_controller_actuator->internal_counter;
+    auto new_counter = test_controller_system->internal_counter + 1;
+
+    // here happens error in hardware and
+    // "actuator controller" and "broadcaster all" are deactivated
+    EXPECT_NO_THROW(cm_->write(TIME, PERIOD));
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
+      test_controller_actuator->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_controller_system->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_broadcaster_all->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_sensor->get_state().id());
+
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
+    EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_controller_system->internal_counter, new_counter)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_broadcaster_all->internal_counter, previous_counter)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_broadcaster_sensor->internal_counter, new_counter)
+      << "Execute without errors to write value";
+  }
+
+  // Recover hardware and activate again all controllers
+  {
+    ASSERT_EQ(
+      cm_->resource_manager_->set_component_state(
+        ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_NAME, state_active),
+      hardware_interface::return_type::OK);
+    auto status_map = cm_->resource_manager_->get_components_status();
+    ASSERT_EQ(
+      status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+
     auto previous_counter_lower = test_controller_actuator->internal_counter;
     auto previous_counter_higher = test_controller_system->internal_counter;
 
@@ -327,6 +516,90 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_read_hardware_er
     EXPECT_LE(test_broadcaster_all->internal_counter, previous_counter_higher);
     EXPECT_GT(test_broadcaster_sensor->internal_counter, previous_counter_higher);
   }
+
+  // Simulate error in write() on TEST_ACTUATOR_HARDWARE_NAME and TEST_SYSTEM_HARDWARE_NAME
+  // by setting first command interface to WRITE_FAIL_VALUE
+  test_controller_actuator->set_first_command_interface_value_to = WRITE_FAIL_VALUE;
+  test_controller_system->set_first_command_interface_value_to = WRITE_FAIL_VALUE;
+  {
+    auto previous_counter_lower = test_controller_actuator->internal_counter + 1;
+    auto previous_counter_higher = test_controller_system->internal_counter + 1;
+
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
+
+    EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter_lower)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_controller_system->internal_counter, previous_counter_higher)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_broadcaster_all->internal_counter, previous_counter_lower)
+      << "Execute without errors to write value";
+    EXPECT_EQ(test_broadcaster_sensor->internal_counter, previous_counter_higher)
+      << "Execute without errors to write value";
+  }
+
+  {
+    auto previous_counter_lower = test_controller_actuator->internal_counter;
+    auto previous_counter_higher = test_controller_system->internal_counter;
+    auto new_counter = test_broadcaster_sensor->internal_counter + 1;
+
+    // here happens error in hardware and
+    // "actuator controller" and "broadcaster all" are deactivated
+    EXPECT_NO_THROW(cm_->write(TIME, PERIOD));
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
+      test_controller_actuator->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_controller_system->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_broadcaster_all->get_state().id());
+    EXPECT_EQ(
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_sensor->get_state().id());
+
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(TIME, PERIOD));
+    EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter_lower)
+      << "Execute has write error and it is not updated";
+    EXPECT_EQ(test_controller_system->internal_counter, previous_counter_higher)
+      << "Execute has write error and it is not updated";
+    EXPECT_EQ(test_broadcaster_all->internal_counter, previous_counter_lower)
+      << "Broadcaster for all interfaces is not updated";
+    EXPECT_EQ(test_broadcaster_sensor->internal_counter, new_counter)
+      << "Execute without errors to write value";
+  }
+
+  // Recover hardware and activate again all controllers
+  {
+    ASSERT_EQ(
+      cm_->resource_manager_->set_component_state(
+        ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_NAME, state_active),
+      hardware_interface::return_type::OK);
+    ASSERT_EQ(
+      cm_->resource_manager_->set_component_state(
+        ros2_control_test_assets::TEST_SYSTEM_HARDWARE_NAME, state_active),
+      hardware_interface::return_type::OK);
+    auto status_map = cm_->resource_manager_->get_components_status();
+    ASSERT_EQ(
+      status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+    ASSERT_EQ(
+      status_map[TEST_SYSTEM_HARDWARE_NAME].state.id(),
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+
+    auto previous_counter_lower = test_controller_actuator->internal_counter;
+    auto previous_counter = test_controller_system->internal_counter;
+    auto previous_counter_higher = test_broadcaster_sensor->internal_counter;
+
+    switch_test_controllers(
+      {TEST_CONTROLLER_SYSTEM_NAME, TEST_CONTROLLER_ACTUATOR_NAME, TEST_BROADCASTER_ALL_NAME}, {},
+      strictness);
+
+    EXPECT_GT(test_controller_actuator->internal_counter, previous_counter_lower);
+    EXPECT_LE(test_controller_actuator->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_controller_system->internal_counter, previous_counter);
+    EXPECT_LE(test_controller_system->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_broadcaster_all->internal_counter, previous_counter_lower);
+    EXPECT_LE(test_broadcaster_all->internal_counter, previous_counter_higher);
+    EXPECT_GT(test_broadcaster_sensor->internal_counter, previous_counter_higher);
+  }
 }
 
 INSTANTIATE_TEST_SUITE_P(