diff --git a/gpio_controllers/package.xml b/gpio_controllers/package.xml
index 9b98746545..c8c60fe522 100644
--- a/gpio_controllers/package.xml
+++ b/gpio_controllers/package.xml
@@ -4,10 +4,21 @@
   <name>gpio_controllers</name>
   <version>4.15.0</version>
   <description>Controllers to interact with gpios.</description>
-  <maintainer email="macbednarczyk@gmail.com">Maciej Bednarczyk</maintainer>
-  <maintainer email="wiktorbajor1@gmail.com">Wiktor Bajor</maintainer>
+
+  <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
+  <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
+  <maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
+  <maintainer email="sai.kishor@pal-robotics.com">Sai Kishor Kothakota</maintainer>
+
   <license>Apache License 2.0</license>
 
+  <url type="website">https://control.ros.org</url>
+  <url type="bugtracker">https://github.com/ros-controls/ros2_controllers/issues</url>
+  <url type="repository">https://github.com/ros-controls/ros2_controllers/</url>
+
+  <author email="macbednarczyk@gmail.com">Maciej Bednarczyk</author>
+  <author email="wiktorbajor1@gmail.com">Wiktor Bajor</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>controller_interface</depend>
@@ -22,6 +33,7 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
 
   <export>
diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
index 51582a90d4..27fb4535df 100644
--- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
+++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
@@ -70,14 +70,10 @@ def main(args=None):
 
     try:
         rclpy.spin(publisher_forward_position)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         print("Keyboard interrupt received. Shutting down node.")
     except Exception as e:
         print(f"Unhandled exception: {e}")
-    finally:
-        if rclpy.ok():
-            publisher_forward_position.destroy_node()
-            rclpy.shutdown()
 
 
 if __name__ == "__main__":
diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
index 91d39855aa..cf38890407 100644
--- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
+++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
@@ -186,14 +186,10 @@ def main(args=None):
 
     try:
         rclpy.spin(publisher_joint_trajectory)
-    except KeyboardInterrupt:
+    except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
         print("Keyboard interrupt received. Shutting down node.")
     except Exception as e:
         print(f"Unhandled exception: {e}")
-    finally:
-        if rclpy.ok():
-            publisher_joint_trajectory.destroy_node()
-            rclpy.shutdown()
 
 
 if __name__ == "__main__":