diff --git a/hardware_interface/doc/asynchronous_components.rst b/hardware_interface/doc/asynchronous_components.rst
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@@ -0,0 +1,99 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/doc/different_update_rates_userdoc.rst
+
+.. _asynchronous_components:
+
+Running Hardware Components Asynchronously
+============================================
+
+The ``ros2_control`` framework allows to run hardware components asynchronously. This is useful when some of the hardware components need to run in a separate thread or executor. For example, a sensor takes longer to read data that affects the periodicity of the  ``controller_manager`` control loop. In this case, the sensor can be run in a separate thread or executor to avoid blocking the control loop.
+
+Parameters
+-----------
+
+The following parameters can be set in the ``ros2_control`` hardware configuration to run the hardware component asynchronously:
+
+* ``is_async``: (optional) If set to ``true``, the hardware component will run asynchronously. Default is ``false``.
+* ``thread_priority``: (optional) The priority of the thread that runs the hardware component. The priority is an integer value between 0 and 99. The default value is 50.
+
+.. note::
+  The thread priority is only used when the hardware component is run asynchronously.
+  When the hardware component is run asynchronously, it uses the FIFO scheduling policy.
+
+Examples
+---------
+
+The following examples show how to use the different hardware interface types synchronously and asynchronously with ``ros2_control`` URDF.
+They can be combined together within the different hardware component types (system, actuator, sensor) (:ref:`see detailed documentation <overview_hardware_components>`) as follows
+
+For a RRBot with multimodal gripper and external sensor:
+
+.. code-block:: xml
+
+  <ros2_control name="RRBotSystemMutipleGPIOs" type="system">
+    <hardware>
+      <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
+      <param name="example_param_hw_start_duration_sec">2.0</param>
+      <param name="example_param_hw_stop_duration_sec">3.0</param>
+      <param name="example_param_hw_slowdown">2.0</param>
+    </hardware>
+    <joint name="joint1">
+      <command_interface name="position">
+        <param name="min">-1</param>
+        <param name="max">1</param>
+      </command_interface>
+      <state_interface name="position"/>
+    </joint>
+    <joint name="joint2">
+      <command_interface name="position">
+        <param name="min">-1</param>
+        <param name="max">1</param>
+      </command_interface>
+      <state_interface name="position"/>
+    </joint>
+    <gpio name="flange_digital_IOs">
+      <command_interface name="digital_output1"/>
+      <state_interface name="digital_output1"/>    <!-- Needed to know current state of the output -->
+      <command_interface name="digital_output2"/>
+      <state_interface name="digital_output2"/>
+      <state_interface name="digital_input1"/>
+      <state_interface name="digital_input2"/>
+    </gpio>
+  </ros2_control>
+  <ros2_control name="MultimodalGripper" type="actuator" is_async="true" thread_priority="30">
+    <hardware>
+      <plugin>ros2_control_demo_hardware/MultimodalGripper</plugin>
+    </hardware>
+    <joint name="parallel_fingers">
+      <command_interface name="position">
+        <param name="min">0</param>
+        <param name="max">100</param>
+      </command_interface>
+      <state_interface name="position"/>
+    </joint>
+  </ros2_control>
+  <ros2_control name="RRBotForceTorqueSensor2D" type="sensor" is_async="true">
+    <hardware>
+      <plugin>ros2_control_demo_hardware/ForceTorqueSensor2DHardware</plugin>
+      <param name="example_param_read_for_sec">0.43</param>
+    </hardware>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="fx"/>
+      <state_interface name="tz"/>
+      <param name="frame_id">kuka_tcp</param>
+      <param name="fx_range">100</param>
+      <param name="tz_range">100</param>
+    </sensor>
+    <sensor name="temp_feedback">
+      <state_interface name="temperature"/>
+    </sensor>
+    <gpio name="calibration">
+      <command_interface name="calibration_matrix_nr"/>
+      <state_interface name="calibration_matrix_nr"/>
+    </gpio>
+  </ros2_control>
+
+In the above example, the following components are defined:
+
+* A system hardware component named ``RRBotSystemMutipleGPIOs`` with two joints and a GPIO component that runs synchronously.
+* An actuator hardware component named ``MultimodalGripper`` with a joint that runs asynchronously with a thread priority of 30.
+* A sensor hardware component named ``RRBotForceTorqueSensor2D`` with two sensors and a GPIO component that runs asynchronously with the default thread priority of 50.
diff --git a/hardware_interface/doc/hardware_components_userdoc.rst b/hardware_interface/doc/hardware_components_userdoc.rst
index 0a980cad4e..3870433ef0 100644
--- a/hardware_interface/doc/hardware_components_userdoc.rst
+++ b/hardware_interface/doc/hardware_components_userdoc.rst
@@ -17,6 +17,7 @@ Guidelines and Best Practices
    Hardware Interface Types <hardware_interface_types_userdoc.rst>
    Writing a Hardware Component <writing_new_hardware_component.rst>
    Different Update Rates <different_update_rates_userdoc.rst>
+   Asynchronous Execution <asynchronous_components.rst>
 
 
 Handling of errors that happen during read() and write() calls