diff --git a/hardware_interface/test/test_resource_manager.cpp b/hardware_interface/test/test_resource_manager.cpp
index 59257f4edc..ed62bf78a4 100644
--- a/hardware_interface/test/test_resource_manager.cpp
+++ b/hardware_interface/test/test_resource_manager.cpp
@@ -961,15 +961,15 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
       TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, false);
   }
 
-  // When actuator is configured all interfaces become available
+  // When actuator is configured state interfaces become available
   configure_components(rm, {TEST_ACTUATOR_HARDWARE_NAME});
   {
     check_interfaces(
       {"joint1/position"},
-      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
+      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
     check_interfaces(
       {"joint1/max_velocity"},
-      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
+      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
     check_interfaces(
       TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
       std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
@@ -987,9 +987,8 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
 
   // Can claim Actuator's interfaces
   {
-    check_interface_claiming({}, {"joint1/position"}, true);
-    check_interface_claiming(
-      TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
+    check_interface_claiming({}, {"joint1/position"}, false);
+    check_interface_claiming(TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {}, true);
     check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, false);
     check_interface_claiming(
       TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, false);
@@ -1045,8 +1044,7 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
       std::bind(&TestableResourceManager::state_interface_exists, &rm, _1), true);
   }
 
-  // When Sensor and System are configured their state-
-  // and command- interfaces are available
+  // When Sensor and System are configured their state-interfaces are available
   configure_components(rm, {TEST_SENSOR_HARDWARE_NAME, TEST_SYSTEM_HARDWARE_NAME});
   {
     check_interfaces(
@@ -1054,10 +1052,10 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
       std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
     check_interfaces(
       {"joint2/velocity", "joint3/velocity"},
-      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
+      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
     check_interfaces(
       {"joint2/max_acceleration", "configuration/max_tcp_jerk"},
-      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
+      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
 
     check_interfaces(
       TEST_ACTUATOR_HARDWARE_STATE_INTERFACES,
@@ -1073,15 +1071,15 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
   // Can claim:
   // - all Actuator's state interfaces and command interfaces
   // - sensor's state interfaces
-  // - system's state and command interfaces
+  // - system's state interfaces
+  // Cannot claim:
+  // - system's command interfaces
   {
     check_interface_claiming(
       TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES, true);
     check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, true);
-    check_interface_claiming({}, {"joint2/velocity", "joint3/velocity"}, true);
-    check_interface_claiming(
-      TEST_SYSTEM_HARDWARE_STATE_INTERFACES,
-      {"joint2/max_acceleration", "configuration/max_tcp_jerk"}, true);
+    check_interface_claiming(TEST_SYSTEM_HARDWARE_STATE_INTERFACES, {}, true);
+    check_interface_claiming({}, {"joint2/velocity", "joint3/velocity"}, false);
   }
 
   // All active - everything available
@@ -1122,10 +1120,10 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
   {
     check_interfaces(
       {"joint1/position"},
-      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
+      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
     check_interfaces(
       {"joint1/max_velocity"},
-      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
+      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
     check_interfaces(
       TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
       std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
@@ -1142,16 +1140,21 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
   }
 
   // Can claim everything
-  // - actuator's state and command interfaces
+  // - actuator's state interfaces
   // - sensor's state interfaces
   // - system's state and command interfaces
+  // Cannot claim:
+  // - actuator's command interface
   {
-    check_interface_claiming({}, {"joint1/position"}, true);
-    check_interface_claiming(
-      TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
+    check_interface_claiming(TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {}, true);
     check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, true);
     check_interface_claiming(
       TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, true);
+    check_interface_claiming({}, {"joint1/position"}, false);
+    //check_interface_claiming(
+    //TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
+    // TODO(fmauch): Claiming the state interfaces should work but the check function expects both
+    // to fail.
   }
 
   // When sensor is cleaned up the interfaces are not available anymore
@@ -1159,10 +1162,10 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
   {
     check_interfaces(
       {"joint1/position"},
-      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
+      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
     check_interfaces(
       {"joint1/max_velocity"},
-      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
+      std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), false);
     check_interfaces(
       TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
       std::bind(&TestableResourceManager::command_interface_is_available, &rm, _1), true);
@@ -1178,17 +1181,24 @@ TEST_F(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle)
       std::bind(&TestableResourceManager::state_interface_is_available, &rm, _1), true);
   }
 
-  // Can claim everything
-  // - actuator's state and command interfaces
-  // - no sensor's interface
+  // Can claim:
+  // - actuator's state interfaces
   // - system's state and command interfaces
+  // Cannot claim:
+  // - actuator's command interfaces
+  // - sensor's interface
   {
-    check_interface_claiming({}, {"joint1/position"}, true);
-    check_interface_claiming(
-      TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
-    check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, false);
+    check_interface_claiming(TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {}, true);
     check_interface_claiming(
       TEST_SYSTEM_HARDWARE_STATE_INTERFACES, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES, true);
+
+    check_interface_claiming(TEST_SENSOR_HARDWARE_STATE_INTERFACES, {}, false);
+    check_interface_claiming({}, {"joint1/position"}, false);
+
+    //check_interface_claiming(
+    //TEST_ACTUATOR_HARDWARE_STATE_INTERFACES, {"joint1/max_velocity"}, true);
+    // TODO(fmauch): Claiming the state interfaces should work but the check function expects both
+    // to fail.
   }
 
   // Check if all interfaces still exits