diff --git a/hardware_interface/test/mock_components/test_generic_system.cpp b/hardware_interface/test/mock_components/test_generic_system.cpp
index 52642a130a..cd344b600e 100644
--- a/hardware_interface/test/mock_components/test_generic_system.cpp
+++ b/hardware_interface/test/mock_components/test_generic_system.cpp
@@ -40,8 +40,9 @@ const auto COMPARE_DELTA = 0.0001;
 class TestGenericSystem : public ::testing::Test
 {
 public:
-  void test_generic_system_with_mock_sensor_commands(std::string & urdf);
   void test_generic_system_with_mimic_joint(std::string & urdf);
+  void test_generic_system_with_mock_sensor_commands(std::string & urdf);
+  void test_generic_system_with_mock_gpio_commands(std::string & urdf);
 
 protected:
   void SetUp() override
@@ -186,7 +187,7 @@ class TestGenericSystem : public ::testing::Test
   </ros2_control>
 )";
 
-    hardware_system_2dof_with_sensor_fake_command_ =
+    hardware_system_2dof_with_sensor_mock_command_ =
       R"(
   <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
@@ -215,7 +216,7 @@ class TestGenericSystem : public ::testing::Test
   </ros2_control>
 )";
 
-    hardware_system_2dof_with_sensor_fake_command_True_ =
+    hardware_system_2dof_with_sensor_mock_command_True_ =
       R"(
   <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
@@ -382,7 +383,41 @@ class TestGenericSystem : public ::testing::Test
   </ros2_control>
 )";
 
-    valid_urdf_ros2_control_system_robot_with_gpio_fake_command_ =
+    valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ =
+      R"(
+  <ros2_control name="GenericSystem2dof" type="system">
+    <hardware>
+      <plugin>mock_components/GenericSystem</plugin>
+      <param name="mock_gpio_commands">true</param>
+    </hardware>
+    <joint name="joint1">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <param name="initial_position">3.45</param>
+    </joint>
+    <joint name="joint2">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <param name="initial_position">2.78</param>
+    </joint>
+    <gpio name="flange_analog_IOs">
+      <command_interface name="analog_output1" data_type="double"/>
+      <state_interface name="analog_output1"/>
+      <state_interface name="analog_input1"/>
+      <state_interface name="analog_input2"/>
+    </gpio>
+    <gpio name="flange_vacuum">
+      <command_interface name="vacuum"/>
+      <state_interface name="vacuum" data_type="double"/>
+    </gpio>
+  </ros2_control>
+)";
+
+    valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ =
       R"(
   <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
@@ -450,7 +485,7 @@ class TestGenericSystem : public ::testing::Test
   </ros2_control>
 )";
 
-    hardware_system_2dof_standard_interfaces_with_different_controli_modes_ =
+    hardware_system_2dof_standard_interfaces_with_different_control_modes_ =
       R"(
   <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
@@ -482,6 +517,24 @@ class TestGenericSystem : public ::testing::Test
     </gpio>
   </ros2_control>
 )";
+
+    disabled_commands_ =
+      R"(
+  <ros2_control name="GenericSystem2dof" type="system">
+    <hardware>
+      <plugin>fake_components/GenericSystem</plugin>
+      <param name="disable_commands">True</param>
+    </hardware>
+    <joint name="joint1">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <state_interface name="position">
+        <param name="initial_value">3.45</param>
+      </state_interface>
+      <state_interface name="velocity"/>
+    </joint>
+  </ros2_control>
+)";
   }
 
   std::string hardware_robot_2dof_;
@@ -491,17 +544,19 @@ class TestGenericSystem : public ::testing::Test
   std::string hardware_system_2dof_standard_interfaces_;
   std::string hardware_system_2dof_with_other_interface_;
   std::string hardware_system_2dof_with_sensor_;
-  std::string hardware_system_2dof_with_sensor_fake_command_;
-  std::string hardware_system_2dof_with_sensor_fake_command_True_;
+  std::string hardware_system_2dof_with_sensor_mock_command_;
+  std::string hardware_system_2dof_with_sensor_mock_command_True_;
   std::string hardware_system_2dof_with_mimic_joint_;
   std::string hardware_system_2dof_standard_interfaces_with_offset_;
   std::string hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_;
   std::string hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_missing_;
   std::string valid_urdf_ros2_control_system_robot_with_gpio_;
-  std::string valid_urdf_ros2_control_system_robot_with_gpio_fake_command_;
+  std::string valid_urdf_ros2_control_system_robot_with_gpio_mock_command_;
+  std::string valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_;
   std::string sensor_with_initial_value_;
   std::string gpio_with_initial_value_;
-  std::string hardware_system_2dof_standard_interfaces_with_different_controli_modes_;
+  std::string hardware_system_2dof_standard_interfaces_with_different_control_modes_;
+  std::string disabled_commands_;
 };
 
 // Forward declaration
@@ -520,12 +575,12 @@ class TestableResourceManager : public hardware_interface::ResourceManager
   FRIEND_TEST(TestGenericSystem, generic_system_2dof_asymetric_interfaces);
   FRIEND_TEST(TestGenericSystem, generic_system_2dof_other_interfaces);
   FRIEND_TEST(TestGenericSystem, generic_system_2dof_sensor);
-  FRIEND_TEST(TestGenericSystem, generic_system_2dof_sensor_fake_command);
-  FRIEND_TEST(TestGenericSystem, generic_system_2dof_sensor_fake_command_True);
+  FRIEND_TEST(TestGenericSystem, generic_system_2dof_sensor_mock_command);
+  FRIEND_TEST(TestGenericSystem, generic_system_2dof_sensor_mock_command_True);
   FRIEND_TEST(TestGenericSystem, hardware_system_2dof_with_mimic_joint);
   FRIEND_TEST(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio);
-  FRIEND_TEST(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_fake_command);
-  FRIEND_TEST(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_fake_command);
+  FRIEND_TEST(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_command);
+  FRIEND_TEST(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True);
 
   TestableResourceManager() : hardware_interface::ResourceManager() {}
 
@@ -1105,18 +1160,18 @@ void TestGenericSystem::test_generic_system_with_mock_sensor_commands(std::strin
   ASSERT_EQ(4.44, sty_c.get_value());
 }
 
-TEST_F(TestGenericSystem, generic_system_2dof_sensor_fake_command)
+TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command)
 {
-  auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_fake_command_ +
+  auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_mock_command_ +
               ros2_control_test_assets::urdf_tail;
 
   test_generic_system_with_mock_sensor_commands(urdf);
 }
 
-TEST_F(TestGenericSystem, generic_system_2dof_sensor_fake_command_True)
+TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
 {
   auto urdf = ros2_control_test_assets::urdf_head +
-              hardware_system_2dof_with_sensor_fake_command_True_ +
+              hardware_system_2dof_with_sensor_mock_command_True_ +
               ros2_control_test_assets::urdf_tail;
 
   test_generic_system_with_mock_sensor_commands(urdf);
@@ -1431,11 +1486,8 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio)
   generic_system_functional_test(urdf);
 }
 
-TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_fake_command)
+void TestGenericSystem::test_generic_system_with_mock_gpio_commands(std::string & urdf)
 {
-  auto urdf = ros2_control_test_assets::urdf_head +
-              valid_urdf_ros2_control_system_robot_with_gpio_fake_command_ +
-              ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
 
   // check is hardware is started
@@ -1542,7 +1594,25 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_fake_co
   ASSERT_EQ(2.22, gpio2_vac_c.get_value());
 }
 
-TEST_F(TestGenericSystem, sensor_with_initial_value_)
+TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_command)
+{
+  auto urdf = ros2_control_test_assets::urdf_head +
+              valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ +
+              ros2_control_test_assets::urdf_tail;
+
+  test_generic_system_with_mock_gpio_commands(urdf);
+}
+
+TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True)
+{
+  auto urdf = ros2_control_test_assets::urdf_head +
+              valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ +
+              ros2_control_test_assets::urdf_tail;
+
+  test_generic_system_with_mock_gpio_commands(urdf);
+}
+
+TEST_F(TestGenericSystem, sensor_with_initial_value)
 {
   auto urdf = ros2_control_test_assets::urdf_head + sensor_with_initial_value_ +
               ros2_control_test_assets::urdf_tail;
@@ -1570,7 +1640,7 @@ TEST_F(TestGenericSystem, sensor_with_initial_value_)
   ASSERT_EQ(0.0, force_z_s.get_value());
 }
 
-TEST_F(TestGenericSystem, gpio_with_initial_value_)
+TEST_F(TestGenericSystem, gpio_with_initial_value)
 {
   auto urdf = ros2_control_test_assets::urdf_head + gpio_with_initial_value_ +
               ros2_control_test_assets::urdf_tail;
@@ -1592,8 +1662,9 @@ TEST_F(TestGenericSystem, gpio_with_initial_value_)
 TEST_F(TestGenericSystem, simple_dynamics_pos_vel_acc_control_modes_interfaces)
 {
   auto urdf = ros2_control_test_assets::urdf_head +
-              hardware_system_2dof_standard_interfaces_with_different_controli_modes_ +
+              hardware_system_2dof_standard_interfaces_with_different_control_modes_ +
               ros2_control_test_assets::urdf_tail;
+
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
   activate_components(rm);
@@ -1783,3 +1854,50 @@ TEST_F(TestGenericSystem, simple_dynamics_pos_vel_acc_control_modes_interfaces)
   ASSERT_EQ(2.0, j2v_c.get_value());
   ASSERT_EQ(3.5, j2a_c.get_value());
 }
+
+TEST_F(TestGenericSystem, disabled_commands_flag_is_active)
+{
+  auto urdf =
+    ros2_control_test_assets::urdf_head + disabled_commands_ + ros2_control_test_assets::urdf_tail;
+  TestableResourceManager rm(urdf);
+  // Activate components to get all interfaces available
+  activate_components(rm);
+
+  // Check interfaces
+  EXPECT_EQ(1u, rm.system_components_size());
+  ASSERT_EQ(2u, rm.state_interface_keys().size());
+  EXPECT_TRUE(rm.state_interface_exists("joint1/position"));
+  EXPECT_TRUE(rm.state_interface_exists("joint1/velocity"));
+
+  ASSERT_EQ(2u, rm.command_interface_keys().size());
+  EXPECT_TRUE(rm.command_interface_exists("joint1/position"));
+  EXPECT_TRUE(rm.command_interface_exists("joint1/velocity"));
+  // Check initial values
+  hardware_interface::LoanedStateInterface j1p_s = rm.claim_state_interface("joint1/position");
+  hardware_interface::LoanedStateInterface j1v_s = rm.claim_state_interface("joint1/velocity");
+  hardware_interface::LoanedCommandInterface j1p_c = rm.claim_command_interface("joint1/position");
+
+  ASSERT_EQ(3.45, j1p_s.get_value());
+  ASSERT_EQ(0.0, j1v_s.get_value());
+  ASSERT_TRUE(std::isnan(j1p_c.get_value()));
+
+  // set some new values in commands
+  j1p_c.set_value(0.11);
+
+  // State values should not be changed
+  ASSERT_EQ(3.45, j1p_s.get_value());
+  ASSERT_EQ(0.0, j1v_s.get_value());
+  ASSERT_EQ(0.11, j1p_c.get_value());
+
+  // write() does not change values
+  rm.write(TIME, PERIOD);
+  ASSERT_EQ(3.45, j1p_s.get_value());
+  ASSERT_EQ(0.0, j1v_s.get_value());
+  ASSERT_EQ(0.11, j1p_c.get_value());
+
+  // read() also does not change values
+  rm.read(TIME, PERIOD);
+  ASSERT_EQ(3.45, j1p_s.get_value());
+  ASSERT_EQ(0.0, j1v_s.get_value());
+  ASSERT_EQ(0.11, j1p_c.get_value());
+}