diff --git a/hardware_interface/include/hardware_interface/component_parser.hpp b/hardware_interface/include/hardware_interface/component_parser.hpp
index 5112f7927e..d5d999cca8 100644
--- a/hardware_interface/include/hardware_interface/component_parser.hpp
+++ b/hardware_interface/include/hardware_interface/component_parser.hpp
@@ -33,8 +33,5 @@ namespace hardware_interface
 HARDWARE_INTERFACE_PUBLIC
 std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 
-HARDWARE_INTERFACE_PUBLIC
-bool parse_bool(const std::string & bool_string);
-
 }  // namespace hardware_interface
 #endif  // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
diff --git a/hardware_interface/include/hardware_interface/double_parsing.hpp b/hardware_interface/include/hardware_interface/lexical_casts.hpp
similarity index 84%
rename from hardware_interface/include/hardware_interface/double_parsing.hpp
rename to hardware_interface/include/hardware_interface/lexical_casts.hpp
index 2020191be6..e0333756f4 100644
--- a/hardware_interface/include/hardware_interface/double_parsing.hpp
+++ b/hardware_interface/include/hardware_interface/lexical_casts.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef HARDWARE_INTERFACE__DOUBLE_PARSING_HPP_
-#define HARDWARE_INTERFACE__DOUBLE_PARSING_HPP_
+#ifndef HARDWARE_INTERFACE__LEXICAL_CASTS_HPP_
+#define HARDWARE_INTERFACE__LEXICAL_CASTS_HPP_
 
 #include <locale>
 #include <sstream>
@@ -42,6 +42,11 @@ double stod(const std::string & s)
   return result;
 }
 
+bool parse_bool(const std::string & bool_string)
+{
+  return bool_string == "true" || bool_string == "True";
+}
+
 }  // namespace hardware_interface
 
-#endif  // HARDWARE_INTERFACE__DOUBLE_PARSING_HPP_
+#endif  // HARDWARE_INTERFACE__LEXICAL_CASTS_HPP_
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index 8e9b6bf16b..6cd9e81f22 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -23,6 +23,7 @@
 
 #include "hardware_interface/component_parser.hpp"
 #include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/lexical_casts.hpp"
 
 namespace
 {
@@ -616,9 +617,4 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &
   return hardware_info;
 }
 
-bool parse_bool(const std::string & bool_string)
-{
-  return bool_string == "true" || bool_string == "True";
-}
-
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
index e68aa2124b..22d8aa573c 100644
--- a/hardware_interface/src/mock_components/generic_system.cpp
+++ b/hardware_interface/src/mock_components/generic_system.cpp
@@ -26,7 +26,7 @@
 #include <vector>
 
 #include "hardware_interface/component_parser.hpp"
-#include "hardware_interface/double_parsing.hpp"
+#include "hardware_interface/lexical_casts.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rcutils/logging_macros.h"