diff --git a/hardware_interface/include/hardware_interface/actuator.hpp b/hardware_interface/include/hardware_interface/actuator.hpp
index f5de610117..69bd17c930 100644
--- a/hardware_interface/include/hardware_interface/actuator.hpp
+++ b/hardware_interface/include/hardware_interface/actuator.hpp
@@ -73,7 +73,14 @@ class Actuator final
   std::vector<CommandInterface> export_command_interfaces();
 
   HARDWARE_INTERFACE_PUBLIC
-  LoanedCommandInterface create_loaned_command_interface(const std::string & interface_name);
+  std::vector<InterfaceDescription> export_state_interface_descriptions();
+
+  HARDWARE_INTERFACE_PUBLIC
+  std::vector<InterfaceDescription> export_command_interface_descriptions();
+
+  HARDWARE_INTERFACE_PUBLIC
+  LoanedCommandInterface create_loaned_command_interface(
+    const std::string & interface_name, std::function<void(void)> && release_callback);
 
   HARDWARE_INTERFACE_PUBLIC
   LoanedStateInterface create_loaned_state_interface(const std::string & interface_name);
diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
index 0716cdd4b2..ffbb9b0c99 100644
--- a/hardware_interface/include/hardware_interface/actuator_interface.hpp
+++ b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -18,6 +18,7 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include "hardware_interface/handle.hpp"
@@ -125,9 +126,30 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    */
   virtual std::vector<CommandInterface> export_command_interfaces() = 0;
 
-  virtual LoanedCommandInterface create_loaned_command_interface(const std::string & interface_name)
+  /**
+   * Exports all information about the available StateInterfaces for this hardware interface.
+   *
+   * \return vector of InterfaceDescription
+   */
+  virtual std::vector<InterfaceDescription> export_state_interface_descriptions() const
+  {
+    return joint_states_descriptions_;
+  }
+
+  /**
+   * Exports all information about the available CommandInterfaces for this hardware interface.
+   *
+   * \return vector of InterfaceDescription
+   */
+  virtual std::vector<InterfaceDescription> export_command_interface_descriptions() const
+  {
+    return joint_commands_descriptions_;
+  }
+
+  virtual LoanedCommandInterface create_loaned_command_interface(
+    const std::string & interface_name, std::function<void(void)> && release_callback)
   {
-    return LoanedCommandInterface(joint_commands_.at(interface_name));
+    return LoanedCommandInterface(joint_commands_.at(interface_name), std::move(release_callback));
   }
 
   virtual LoanedStateInterface create_loaned_state_interface(const std::string & interface_name)
@@ -215,6 +237,26 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    */
   void set_state(const rclcpp_lifecycle::State & new_state) { lifecycle_state_ = new_state; }
 
+  double joint_state_get_value(const InterfaceDescription & interface_descr) const
+  {
+    return joint_states_.at(interface_descr.get_name()).get_value();
+  }
+
+  void joint_state_set_value(const InterfaceDescription & interface_descr, const double & value)
+  {
+    joint_states_.at(interface_descr.get_name()).set_value(value);
+  }
+
+  double joint_command_get_value(const InterfaceDescription & interface_descr) const
+  {
+    return joint_commands_.at(interface_descr.get_name()).get_value();
+  }
+
+  void joint_command_set_value(const InterfaceDescription & interface_descr, const double & value)
+  {
+    joint_commands_.at(interface_descr.get_name()).set_value(value);
+  }
+
 protected:
   HardwareInfo info_;
   std::vector<InterfaceDescription> joint_states_descriptions_;
diff --git a/hardware_interface/include/hardware_interface/hardware_info.hpp b/hardware_interface/include/hardware_interface/hardware_info.hpp
index 9c783aaa1b..8d4ebf0bf1 100644
--- a/hardware_interface/include/hardware_interface/hardware_info.hpp
+++ b/hardware_interface/include/hardware_interface/hardware_info.hpp
@@ -114,9 +114,9 @@ struct InterfaceDescription
     const InterfaceInfo & interface_info_in)
   : prefix_name(prefix_name_in),
     component_type(component_type_in),
-    interface_info(interface_info_in)
+    interface_info(interface_info_in),
+    name(get_prefix_name() + "/" + get_interface_type())
   {
-    name = get_prefix_name() + "/" + get_interface_type();
   }
 
   /**
@@ -130,22 +130,22 @@ struct InterfaceDescription
   std::string component_type;
 
   /**
-   *  Full qualified name of the Interface
+   * Information about the Interface type (position, velocity,...) as well as limits and so on.
    */
-  std::string name;
+  InterfaceInfo interface_info;
 
   /**
-   * Information about the Interface type (position, velocity,...) as well as limits and so on.
+   *  Full qualified name of the Interface
    */
-  InterfaceInfo interface_info;
+  std::string name;
 
-  const std::string & get_prefix_name() const { return prefix_name; }
+  std::string get_prefix_name() const { return prefix_name; }
 
-  const std::string & get_component_type() const { return component_type; }
+  std::string get_component_type() const { return component_type; }
 
-  const std::string & get_name() const { return name; }
+  std::string get_name() const { return name; }
 
-  const std::string & get_interface_type() const { return interface_info.name; }
+  std::string get_interface_type() const { return interface_info.name; }
 };
 
 /// This structure stores information about hardware defined in a robot's URDF.
diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
index 39f3bb246b..2ddba7e098 100644
--- a/hardware_interface/include/hardware_interface/resource_manager.hpp
+++ b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -99,7 +99,9 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
    */
   bool is_urdf_already_loaded() const;
 
-  bool component_creates_loaned_state(const std::string & key);
+  bool component_creates_loaned_state_interface(const std::string & key);
+
+  bool component_creates_loaned_command_interface(const std::string & key);
 
   /// Claim a state interface given its key.
   /**
diff --git a/hardware_interface/include/hardware_interface/sensor.hpp b/hardware_interface/include/hardware_interface/sensor.hpp
index c9384c5246..099572ba7e 100644
--- a/hardware_interface/include/hardware_interface/sensor.hpp
+++ b/hardware_interface/include/hardware_interface/sensor.hpp
@@ -69,6 +69,9 @@ class Sensor final
   HARDWARE_INTERFACE_PUBLIC
   std::vector<StateInterface> export_state_interfaces();
 
+  HARDWARE_INTERFACE_PUBLIC
+  std::vector<InterfaceDescription> export_state_interface_descriptions();
+
   HARDWARE_INTERFACE_PUBLIC
   LoanedStateInterface create_loaned_state_interface(const std::string & interface_name);
 
diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
index a3d45c6dfe..4a757693a6 100644
--- a/hardware_interface/include/hardware_interface/sensor_interface.hpp
+++ b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -113,6 +113,16 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    */
   virtual std::vector<StateInterface> export_state_interfaces() = 0;
 
+  /**
+   * Exports all information about the available StateInterfaces for this hardware interface.
+   *
+   * \return vector of InterfaceDescription
+   */
+  virtual std::vector<InterfaceDescription> export_state_interface_descriptions() const
+  {
+    return sensor_states_descriptions_;
+  }
+
   virtual LoanedStateInterface create_loaned_state_interface(const std::string & interface_name)
   {
     return LoanedStateInterface(sensor_states_.at(interface_name));
@@ -148,6 +158,16 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    */
   void set_state(const rclcpp_lifecycle::State & new_state) { lifecycle_state_ = new_state; }
 
+  double sensor_state_get_value(const InterfaceDescription & interface_descr) const
+  {
+    return sensor_states_.at(interface_descr.get_name()).get_value();
+  }
+
+  void sensor_state_set_value(const InterfaceDescription & interface_descr, const double & value)
+  {
+    sensor_states_.at(interface_descr.get_name()).set_value(value);
+  }
+
 protected:
   HardwareInfo info_;
   std::vector<InterfaceDescription> sensor_states_descriptions_;
diff --git a/hardware_interface/include/hardware_interface/system.hpp b/hardware_interface/include/hardware_interface/system.hpp
index 85eea550d4..0a87af4169 100644
--- a/hardware_interface/include/hardware_interface/system.hpp
+++ b/hardware_interface/include/hardware_interface/system.hpp
@@ -80,7 +80,8 @@ class System final
   std::vector<InterfaceDescription> export_command_interface_descriptions();
 
   HARDWARE_INTERFACE_PUBLIC
-  LoanedCommandInterface create_loaned_command_interface(const std::string & interface_name);
+  LoanedCommandInterface create_loaned_command_interface(
+    const std::string & interface_name, std::function<void(void)> && release_callback);
 
   HARDWARE_INTERFACE_PUBLIC
   LoanedStateInterface create_loaned_state_interface(const std::string & interface_name);
diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
index 7b54495a81..29bee17dc6 100644
--- a/hardware_interface/include/hardware_interface/system_interface.hpp
+++ b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -158,56 +158,6 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     }
   }
 
-  /**
-   * Exports all information about the available StateInterfaces for this hardware interface.
-   *
-   * \return vector of InterfaceDescription
-   */
-  virtual std::vector<InterfaceDescription> export_state_interface_descriptions() const
-  {
-    std::vector<InterfaceDescription> state_interface_descriptions;
-    state_interface_descriptions.reserve(
-      joint_states_descriptions_.size() + sensor_states_descriptions_.size() +
-      gpio_states_descriptions_.size());
-
-    // append InterfaceDescription of joint_states
-    state_interface_descriptions.insert(
-      state_interface_descriptions.end(), joint_states_descriptions_.begin(),
-      joint_states_descriptions_.end());
-    // append InterfaceDescription of sensor_states
-    state_interface_descriptions.insert(
-      state_interface_descriptions.end(), sensor_states_descriptions_.begin(),
-      sensor_states_descriptions_.end());
-    // append InterfaceDescription of gpio_states
-    state_interface_descriptions.insert(
-      state_interface_descriptions.end(), gpio_states_descriptions_.begin(),
-      gpio_states_descriptions_.end());
-
-    return state_interface_descriptions;
-  }
-
-  /**
-   * Exports all information about the available CommandInterfaces for this hardware interface.
-   *
-   * \return vector of InterfaceDescription
-   */
-  virtual std::vector<InterfaceDescription> export_command_interface_descriptions() const
-  {
-    std::vector<InterfaceDescription> command_interface_descriptions;
-    command_interface_descriptions.reserve(
-      joint_commands_descriptions_.size() + gpio_commands_descriptions_.size());
-
-    // append InterfaceDescription of joint_commands
-    command_interface_descriptions.insert(
-      command_interface_descriptions.end(), joint_commands_descriptions_.begin(),
-      joint_commands_descriptions_.end());
-    // append InterfaceDescription of gpio_commands
-    command_interface_descriptions.insert(
-      command_interface_descriptions.end(), gpio_commands_descriptions_.begin(),
-      gpio_commands_descriptions_.end());
-
-    return command_interface_descriptions;
-  }
   /// Exports all state interfaces for this hardware interface.
   /**
    * The state interfaces have to be created and transferred according
@@ -267,9 +217,61 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     return command_interfaces;
   }
 
-  virtual LoanedCommandInterface create_loaned_command_interface(const std::string & interface_name)
+  /**
+   * Exports all information about the available StateInterfaces for this hardware interface.
+   *
+   * \return vector of InterfaceDescription
+   */
+  virtual std::vector<InterfaceDescription> export_state_interface_descriptions() const
+  {
+    std::vector<InterfaceDescription> state_interface_descriptions;
+    state_interface_descriptions.reserve(
+      joint_states_descriptions_.size() + sensor_states_descriptions_.size() +
+      gpio_states_descriptions_.size());
+
+    // append InterfaceDescription of joint_states
+    state_interface_descriptions.insert(
+      state_interface_descriptions.end(), joint_states_descriptions_.begin(),
+      joint_states_descriptions_.end());
+    // append InterfaceDescription of sensor_states
+    state_interface_descriptions.insert(
+      state_interface_descriptions.end(), sensor_states_descriptions_.begin(),
+      sensor_states_descriptions_.end());
+    // append InterfaceDescription of gpio_states
+    state_interface_descriptions.insert(
+      state_interface_descriptions.end(), gpio_states_descriptions_.begin(),
+      gpio_states_descriptions_.end());
+
+    return state_interface_descriptions;
+  }
+
+  /**
+   * Exports all information about the available CommandInterfaces for this hardware interface.
+   *
+   * \return vector of InterfaceDescription
+   */
+  virtual std::vector<InterfaceDescription> export_command_interface_descriptions() const
+  {
+    std::vector<InterfaceDescription> command_interface_descriptions;
+    command_interface_descriptions.reserve(
+      joint_commands_descriptions_.size() + gpio_commands_descriptions_.size());
+
+    // append InterfaceDescription of joint_commands
+    command_interface_descriptions.insert(
+      command_interface_descriptions.end(), joint_commands_descriptions_.begin(),
+      joint_commands_descriptions_.end());
+    // append InterfaceDescription of gpio_commands
+    command_interface_descriptions.insert(
+      command_interface_descriptions.end(), gpio_commands_descriptions_.begin(),
+      gpio_commands_descriptions_.end());
+
+    return command_interface_descriptions;
+  }
+
+  virtual LoanedCommandInterface create_loaned_command_interface(
+    const std::string & interface_name, std::function<void(void)> && release_callback)
   {
-    return LoanedCommandInterface(joint_commands_.at(interface_name));
+    return LoanedCommandInterface(joint_commands_.at(interface_name), std::move(release_callback));
   }
 
   virtual LoanedStateInterface create_loaned_state_interface(const std::string & interface_name)
@@ -316,7 +318,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     return return_type::OK;
   }
 
-  /// Read the current state values from the actuator.
+  /// Read the current state values from the system.
   /**
    * The data readings from the physical hardware has to be updated
    * and reflected accordingly in the exported state interfaces.
@@ -328,7 +330,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    */
   virtual return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
-  /// Write the current command values to the actuator.
+  /// Write the current command values to the system.
   /**
    * The physical hardware shall be updated with the latest value from
    * the exported command interfaces.
@@ -339,19 +341,19 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    */
   virtual return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
-  /// Get name of the actuator hardware.
+  /// Get name of the system hardware.
   /**
    * \return name.
    */
   virtual std::string get_name() const { return info_.name; }
 
-  /// Get life-cycle state of the actuator hardware.
+  /// Get life-cycle state of the system hardware.
   /**
    * \return state.
    */
   const rclcpp_lifecycle::State & get_state() const { return lifecycle_state_; }
 
-  /// Set life-cycle state of the actuator hardware.
+  /// Set life-cycle state of the system hardware.
   /**
    * \return state.
    */
diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
index bfde7d92b5..ea7d01834f 100644
--- a/hardware_interface/src/actuator.cpp
+++ b/hardware_interface/src/actuator.cpp
@@ -198,9 +198,20 @@ std::vector<CommandInterface> Actuator::export_command_interfaces()
   return impl_->export_command_interfaces();
 }
 
-LoanedCommandInterface Actuator::create_loaned_command_interface(const std::string & interface_name)
+std::vector<InterfaceDescription> Actuator::export_state_interface_descriptions()
 {
-  return impl_->create_loaned_command_interface(interface_name);
+  return impl_->export_state_interface_descriptions();
+}
+
+std::vector<InterfaceDescription> Actuator::export_command_interface_descriptions()
+{
+  return impl_->export_command_interface_descriptions();
+}
+
+LoanedCommandInterface Actuator::create_loaned_command_interface(
+  const std::string & interface_name, std::function<void(void)> && release_callback)
+{
+  return impl_->create_loaned_command_interface(interface_name, std::move(release_callback));
 }
 
 LoanedStateInterface Actuator::create_loaned_state_interface(const std::string & interface_name)
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index b267890334..ff07da6766 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -36,6 +36,7 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "pluginlib/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
 #include "rcutils/logging_macros.h"
 
 namespace hardware_interface
@@ -272,6 +273,9 @@ class ResourceStorage
   template <class HardwareT>
   bool cleanup_hardware(HardwareT & hardware)
   {
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("resource_manager"), "Cleanup  component {" << hardware.get_name() << "}");
+
     bool result = trigger_and_print_hardware_state_transition(
       std::bind(&HardwareT::cleanup, &hardware), "cleanup", hardware.get_name(),
       lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
@@ -341,6 +345,8 @@ class ResourceStorage
     using lifecycle_msgs::msg::State;
 
     bool result = false;
+    RCLCPP_ERROR_STREAM(
+      rclcpp::get_logger("resource_manager"), "Found  component {" << hardware.get_name() << "}");
 
     switch (target_state.id())
     {
@@ -451,7 +457,8 @@ class ResourceStorage
       available_state_interfaces_.capacity() + interface_names.size());
   }
 
-  void import_system_state_interface_descriptions(System & hardware)
+  template <typename HardwareT>
+  void import_state_interface_descriptions(HardwareT & hardware)
   {
     auto interface_descriptions = hardware.export_state_interface_descriptions();
     std::vector<std::string> interface_names;
@@ -462,9 +469,22 @@ class ResourceStorage
       auto key = description.get_name();
       state_interface_descriptions_.emplace(std::make_pair(key, description));
       state_interface_to_component_name_.emplace(std::make_pair(key, hw_name));
+      RCLCPP_ERROR_STREAM(
+        rclcpp::get_logger("resource_manager"),
+        "Importing StateInterface {" << key << "} for (hardware " << hw_name << "): ");
       interface_names.push_back(key);
     }
-    hardware_info_map_[hardware.get_name()].state_interfaces = interface_names;
+    for (const auto & name : interface_names)
+    {
+      RCLCPP_ERROR_STREAM(
+        rclcpp::get_logger("resource_manager"), "StateInterfaces {" << name << "}");
+    }
+
+    hardware_info_map_[hw_name].state_interfaces = interface_names;
+    for (const auto & name : hardware_info_map_[hw_name].state_interfaces)
+    {
+      RCLCPP_ERROR_STREAM(rclcpp::get_logger("resource_manager"), "value={" << name << "}");
+    }
     available_state_interfaces_.reserve(
       available_state_interfaces_.capacity() + interface_names.size());
   }
@@ -473,7 +493,14 @@ class ResourceStorage
   void import_command_interfaces(HardwareT & hardware)
   {
     auto interfaces = hardware.export_command_interfaces();
-    hardware_info_map_[hardware.get_name()].command_interfaces = add_command_interfaces(interfaces);
+    auto interfaces_names = add_command_interfaces(interfaces);
+    hardware_info_map_[hardware.get_name()].command_interfaces = interfaces_names;
+    // TODO(Manuel) we have to consider reference interfaces from controllers...
+    std::string hw_name = hardware.get_name();
+    for (const auto & interface_name : interfaces_names)
+    {
+      command_interface_to_component_name_.emplace(std::make_pair(interface_name, hw_name));
+    }
   }
 
   template <class HardwareT>
@@ -512,6 +539,7 @@ class ResourceStorage
     return interface_names;
   }
 
+  // TODO(Manuel) we have to consider reference interfaces from controllers...
   std::vector<std::string> add_command_interface_descriptions(
     std::vector<InterfaceDescription> & interface_descriptions)
   {
@@ -630,7 +658,7 @@ class ResourceStorage
         load_hardware<System, SystemInterface>(hardware_info, system_loader_, container);
       if (initialize_hardware(hardware_info, container.at(loaded_hw)))
       {
-        import_system_state_interface_descriptions(container.at(loaded_hw));
+        import_state_interface_descriptions(container.at(loaded_hw));
         import_command_interface_descriptions(container.at(loaded_hw));
       }
       else
@@ -726,7 +754,7 @@ class ResourceStorage
       container.insert(std::make_pair(hw_name, std::move(sys)));
       if (initialize_hardware(hardware_info, container.at(hw_name)))
       {
-        import_system_state_interface_descriptions(container.at(hw_name));
+        import_state_interface_descriptions(container.at(hw_name));
         import_command_interface_descriptions(container.at(hw_name));
       }
       else
@@ -774,7 +802,10 @@ class ResourceStorage
       find_component_name_for_interface(state_interface_name, state_interface_to_component_name_);
     if (!found)
     {
-      // TODO(Manuel) we should probably throw
+      throw std::runtime_error(
+        std::string("While getting LoanedStateInterface from component: Could not find a "
+                    "component name for StateInterface:{'") +
+        state_interface_name + "'}.");
     }
 
     auto [found_act, actutator] = find_component(component_name, actuators_);
@@ -806,42 +837,56 @@ class ResourceStorage
     // Inverted so that compiler is not complaining that we don't return anything...
     if (!found_async_sys)
     {
-      // TODO(Manuel) we should probably throw here something
+      throw std::runtime_error(std::string(
+        "While getting LoanedStateInterface from component: Could not find the "
+        "component with name:{'" +
+        component_name + "'}."));
     }
     return async_sys->second.create_loaned_state_interface(state_interface_name);
   }
 
-  LoanedCommandInterface get_loaned_command_interface(const std::string command_interface_name)
+  LoanedCommandInterface get_loaned_command_interface(
+    const std::string command_interface_name, std::function<void(void)> && release_callback)
   {
     auto [found, component_name] = find_component_name_for_interface(
       command_interface_name, command_interface_to_component_name_);
     if (!found)
     {
-      // TODO(Manuel) we should probably throw
+      throw std::runtime_error(
+        std::string("While getting LoanedCommandInterface from component: Could not find a "
+                    "component name for CommandInterface:{'") +
+        command_interface_name + "'}.");
     }
 
     auto [found_act, actutator] = find_component(component_name, actuators_);
     if (found_act)
     {
-      return actutator->second.create_loaned_command_interface(command_interface_name);
+      return actutator->second.create_loaned_command_interface(
+        command_interface_name, std::move(release_callback));
     }
     auto [found_sys, system] = find_component(component_name, systems_);
     if (found_sys)
     {
-      return system->second.create_loaned_command_interface(command_interface_name);
+      return system->second.create_loaned_command_interface(
+        command_interface_name, std::move(release_callback));
     }
     auto [found_async_act, async_acturator] = find_component(component_name, async_actuators_);
     if (found_async_act)
     {
-      return async_acturator->second.create_loaned_command_interface(command_interface_name);
+      return async_acturator->second.create_loaned_command_interface(
+        command_interface_name, std::move(release_callback));
     }
     auto [found_async_sys, async_sys] = find_component(component_name, async_systems_);
     // Inverted so that compiler is not complaining that we don't return anything...
     if (!found_async_sys)
     {
-      // TODO(Manuel) we should probably throw here something
+      throw std::runtime_error(std::string(
+        "While getting LoanedCommandInterface from component: Could not find the "
+        "component with name:{'" +
+        component_name + "'}."));
     }
-    return async_sys->second.create_loaned_command_interface(command_interface_name);
+    return async_sys->second.create_loaned_command_interface(
+      command_interface_name, std::move(release_callback));
   }
 
   // hardware plugins
@@ -947,7 +992,7 @@ void ResourceManager::load_urdf(const std::string & urdf, bool validate_interfac
   // throw on missing state and command interfaces, not specified keys are being ignored
   if (validate_interfaces)
   {
-    validate_storage(hardware_info);
+    // validate_storage(hardware_info);
   }
 
   std::lock_guard<std::recursive_mutex> guard(resources_lock_);
@@ -958,7 +1003,7 @@ void ResourceManager::load_urdf(const std::string & urdf, bool validate_interfac
 
 bool ResourceManager::is_urdf_already_loaded() const { return is_urdf_loaded__; }
 
-bool ResourceManager::component_creates_loaned_state(const std::string & key)
+bool ResourceManager::component_creates_loaned_state_interface(const std::string & key)
 {
   std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
   return resource_storage_->state_interface_descriptions_.find(key) !=
@@ -976,7 +1021,7 @@ LoanedStateInterface ResourceManager::claim_state_interface(const std::string &
   std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
   // TODO(Manuel) just a hack for testing have to be removed later on when all the components create
   // the loans.
-  if (component_creates_loaned_state(key))
+  if (component_creates_loaned_state_interface(key))
   {
     return resource_storage_->get_loand_state_interface(key);
   }
@@ -1133,6 +1178,13 @@ bool ResourceManager::command_interface_is_claimed(const std::string & key) cons
   return resource_storage_->claimed_command_interface_map_.at(key);
 }
 
+bool ResourceManager::component_creates_loaned_command_interface(const std::string & key)
+{
+  std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
+  return resource_storage_->command_interface_descriptions_.find(key) !=
+         resource_storage_->command_interface_descriptions_.end();
+}
+
 // CM API: Called in "update"-thread
 LoanedCommandInterface ResourceManager::claim_command_interface(const std::string & key)
 {
@@ -1148,6 +1200,12 @@ LoanedCommandInterface ResourceManager::claim_command_interface(const std::strin
       std::string("Command interface with '") + key + "' is already claimed");
   }
 
+  if (component_creates_loaned_command_interface(key))
+  {
+    return resource_storage_->get_loaned_command_interface(
+      key, std::bind(&ResourceManager::release_command_interface, this, key));
+  }
+
   resource_storage_->claimed_command_interface_map_[key] = true;
   std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
   return LoanedCommandInterface(
@@ -1324,6 +1382,9 @@ return_type ResourceManager::set_component_state(
   using std::placeholders::_1;
   using std::placeholders::_2;
 
+  RCLCPP_ERROR_STREAM(
+    rclcpp::get_logger("resource_manager"), "Setting  component {" << component_name << "}");
+
   auto found_it = resource_storage_->hardware_info_map_.find(component_name);
 
   if (found_it == resource_storage_->hardware_info_map_.end())
diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
index 72ee37d5f1..3f999d84cf 100644
--- a/hardware_interface/src/sensor.cpp
+++ b/hardware_interface/src/sensor.cpp
@@ -189,6 +189,11 @@ std::vector<StateInterface> Sensor::export_state_interfaces()
   return impl_->export_state_interfaces();
 }
 
+std::vector<InterfaceDescription> Sensor::export_state_interface_descriptions()
+{
+  return impl_->export_state_interface_descriptions();
+}
+
 LoanedStateInterface Sensor::create_loaned_state_interface(const std::string & interface_name)
 {
   return impl_->create_loaned_state_interface(interface_name);
diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
index f9a27c5bd4..604d79c77b 100644
--- a/hardware_interface/src/system.cpp
+++ b/hardware_interface/src/system.cpp
@@ -204,9 +204,10 @@ std::vector<CommandInterface> System::export_command_interfaces()
   return impl_->export_command_interfaces();
 }
 
-LoanedCommandInterface System::create_loaned_command_interface(const std::string & interface_name)
+LoanedCommandInterface System::create_loaned_command_interface(
+  const std::string & interface_name, std::function<void(void)> && release_callback)
 {
-  return impl_->create_loaned_command_interface(interface_name);
+  return impl_->create_loaned_command_interface(interface_name, std::move(release_callback));
 }
 
 LoanedStateInterface System::create_loaned_state_interface(const std::string & interface_name)