diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index 06c56b4cce..487a6cacb5 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -685,8 +685,8 @@ void ResourceManager::load_urdf(
   const std::string actuator_type = "actuator";
 
   const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
+  std::lock_guard<std::recursive_mutex> resource_guard(resources_lock_);
   if (load_and_initialize_components)
-    std::lock_guard<std::recursive_mutex> resource_guard(resources_lock_);
   {
     for (const auto & individual_hardware_info : hardware_info)
     {
@@ -716,7 +716,6 @@ void ResourceManager::load_urdf(
     validate_storage(hardware_info);
   }
 
-  std::lock_guard<std::recursive_mutex> guard(resources_lock_);
   read_write_status.failed_hardware_names.reserve(
     resource_storage_->actuators_.size() + resource_storage_->sensors_.size() +
     resource_storage_->systems_.size());