diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index 0f186531e9..9125e40850 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -186,7 +186,7 @@ std::size_t parse_size_attribute(const tinyxml2::XMLElement * elem)
   std::regex int_re("[1-9][0-9]*");
   if (std::regex_match(s, int_re))
   {
-    size = std::stoi(s);
+    size = static_cast<size_t>(std::stoi(s));
   }
   else
   {
@@ -885,7 +885,7 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
           {
             throw std::runtime_error("Mimic joint '" + name + "' not found in <ros2_control> tag");
           }
-          return std::distance(hw_info.joints.begin(), it);
+          return static_cast<size_t>(std::distance(hw_info.joints.begin(), it));
         };
 
         MimicJoint mimic_joint;
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
index 8b46d21f4d..2b1d635c97 100644
--- a/hardware_interface/src/mock_components/generic_system.cpp
+++ b/hardware_interface/src/mock_components/generic_system.cpp
@@ -117,7 +117,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
       custom_interface_with_following_offset_ = it->second;
     }
   }
-  // it's extremely improbable that std::distance results int this value - therefore default
+  // it's extremely improbable that std::distance results in this value - therefore default
   index_custom_interface_with_following_offset_ = std::numeric_limits<size_t>::max();
 
   // Initialize storage for standard interfaces
@@ -157,7 +157,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
     if (if_it != other_interfaces_.end())
     {
       index_custom_interface_with_following_offset_ =
-        std::distance(other_interfaces_.begin(), if_it);
+        static_cast<size_t>(std::distance(other_interfaces_.begin(), if_it));
       RCLCPP_INFO(
         get_logger(), "Custom interface with following offset '%s' found at index: %zu.",
         custom_interface_with_following_offset_.c_str(),
@@ -348,7 +348,8 @@ return_type GenericSystem::prepare_command_mode_switch(
 
     if (joint_it_found != info.joints.end())
     {
-      const size_t joint_index = std::distance(info.joints.begin(), joint_it_found);
+      const size_t joint_index =
+        static_cast<size_t>(std::distance(info.joints.begin(), joint_it_found));
       if (joint_found_in_x_requests_[joint_index] == 0)
       {
         joint_found_in_x_requests_[joint_index] = FOUND_ONCE_FLAG;
@@ -436,7 +437,8 @@ return_type GenericSystem::perform_command_mode_switch(
 
     if (joint_it_found != info.joints.end())
     {
-      const size_t joint_index = std::distance(info.joints.begin(), joint_it_found);
+      const size_t joint_index =
+        static_cast<size_t>(std::distance(info.joints.begin(), joint_it_found));
 
       if (key == info.joints[joint_index].name + "/" + hardware_interface::HW_IF_POSITION)
       {
@@ -630,7 +632,7 @@ bool GenericSystem::get_interface(
   auto it = std::find(interface_list.begin(), interface_list.end(), interface_name);
   if (it != interface_list.end())
   {
-    auto j = std::distance(interface_list.begin(), it);
+    auto j = static_cast<size_t>(std::distance(interface_list.begin(), it));
     interfaces.emplace_back(name, *it, &values[j][vector_index]);
     return true;
   }
@@ -662,7 +664,7 @@ void GenericSystem::initialize_storage_vectors(
       // If interface name is found in the interfaces list
       if (it != interfaces.end())
       {
-        auto index = std::distance(interfaces.begin(), it);
+        auto index = static_cast<size_t>(std::distance(interfaces.begin(), it));
 
         // Check the initial_value param is used
         if (!interface.initial_value.empty())