diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index efdf0ea347..971700fb9e 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -611,13 +611,10 @@ class ResourceStorage
     auto interfaces = hardware.export_state_interfaces();
     const auto interface_names = add_state_interfaces(interfaces);
 
-    if (interface_names.empty())
-    {
-      RCLCPP_WARN(
-        get_logger(),
-        "Importing state interfaces for the hardware '%s' returned no state interfaces.",
-        hardware.get_name().c_str());
-    }
+    RCLCPP_WARN_EXPRESSION(
+      get_logger(), interface_names.empty(),
+      "Importing state interfaces for the hardware '%s' returned no state interfaces.",
+      hardware.get_name().c_str());
     hardware_info_map_[hardware.get_name()].state_interfaces = interface_names;
     available_state_interfaces_.reserve(
       available_state_interfaces_.capacity() + interface_names.size());