diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
index b424255379..3df37fb5a0 100644
--- a/hardware_interface/src/actuator.cpp
+++ b/hardware_interface/src/actuator.cpp
@@ -218,13 +218,11 @@ const rclcpp_lifecycle::State & Actuator::get_state() const { return impl_->get_
 
 return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  // TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
-  return_type result = return_type::ERROR;
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
   {
     return return_type::OK;
   }
-
+  return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)
@@ -240,13 +238,11 @@ return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & p
 
 return_type Actuator::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  // TODO(destogl): discuss what should be default return value, e.g., "NOT_EXECUTED"
-  return_type result = return_type::ERROR;
   if (impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
   {
     return return_type::OK;
   }
-
+  return_type result = return_type::ERROR;
   if (
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE ||
     impl_->get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE)