diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index ab72373563..0d3a624e15 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -233,14 +233,29 @@ std::string parse_data_type_attribute(const tinyxml2::XMLElement * elem)
 unsigned int parse_rw_rate_attribute(const tinyxml2::XMLElement * elem)
 {
   const tinyxml2::XMLAttribute * attr = elem->FindAttribute(kReadWriteRateAttribute);
-  const auto rw_rate = attr ? std::stoi(attr->Value()) : 0;
-  if (rw_rate < 0)
+  try
+  {
+    const auto rw_rate = attr ? std::stoi(attr->Value()) : 0;
+    if (rw_rate < 0)
+    {
+      throw std::runtime_error(
+        "Could not parse rw_rate tag in \"" + std::string(elem->Name()) + "\"." + "Got \"" +
+        std::to_string(rw_rate) + "\", but expected a positive integer.");
+    }
+    return static_cast<unsigned int>(rw_rate);
+  }
+  catch (const std::invalid_argument & e)
+  {
+    throw std::runtime_error(
+      "Could not parse rw_rate tag in \"" + std::string(elem->Name()) + "\"." +
+      " Invalid value : \"" + attr->Value() + "\", expected a positive integer.");
+  }
+  catch (const std::out_of_range & e)
   {
     throw std::runtime_error(
-      "Could not parse rw_rate tag in \"" + std::string(elem->Name()) + "\"." + "Got \"" +
-      std::to_string(rw_rate) + "\", but expected a positive integer.");
+      "Could not parse rw_rate tag in \"" + std::string(elem->Name()) + "\"." +
+      " Out of range value : \"" + attr->Value() + "\", expected a positive valid integer.");
   }
-  return static_cast<unsigned int>(rw_rate);
 }
 
 /// Parse is_async attribute
diff --git a/hardware_interface/test/test_component_parser.cpp b/hardware_interface/test/test_component_parser.cpp
index 2e2cae9807..22cfe38242 100644
--- a/hardware_interface/test/test_component_parser.cpp
+++ b/hardware_interface/test/test_component_parser.cpp
@@ -1358,6 +1358,36 @@ TEST_F(TestComponentParser, gripper_mimic_deprecated_valid_config)
   EXPECT_EQ(hw_info[0].mimic_joints[0].joint_index, 1);
 }
 
+TEST_F(TestComponentParser, negative_rw_rates_throws_error)
+{
+  const auto urdf_to_test =
+    std::string(ros2_control_test_assets::gripper_urdf_head) +
+    std::string(ros2_control_test_assets::hardware_resources_with_negative_rw_rates) +
+    std::string(ros2_control_test_assets::urdf_tail);
+  std::vector<hardware_interface::HardwareInfo> hw_info;
+  ASSERT_THROW(parse_control_resources_from_urdf(urdf_to_test), std::runtime_error);
+}
+
+TEST_F(TestComponentParser, invalid_rw_rates_throws_error)
+{
+  const auto urdf_to_test =
+    std::string(ros2_control_test_assets::gripper_urdf_head) +
+    std::string(ros2_control_test_assets::hardware_resources_invalid_with_text_in_rw_rates) +
+    std::string(ros2_control_test_assets::urdf_tail);
+  std::vector<hardware_interface::HardwareInfo> hw_info;
+  ASSERT_THROW(parse_control_resources_from_urdf(urdf_to_test), std::runtime_error);
+}
+
+TEST_F(TestComponentParser, invalid_rw_rates_out_of_range)
+{
+  const auto urdf_to_test =
+    std::string(ros2_control_test_assets::gripper_urdf_head) +
+    std::string(ros2_control_test_assets::hardware_resources_invalid_out_of_range_in_rw_rates) +
+    std::string(ros2_control_test_assets::urdf_tail);
+  std::vector<hardware_interface::HardwareInfo> hw_info;
+  ASSERT_THROW(parse_control_resources_from_urdf(urdf_to_test), std::runtime_error);
+}
+
 TEST_F(TestComponentParser, gripper_mimic_deprecated_unknown_joint_throws_error)
 {
   const auto urdf_to_test =
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
index 0c098a15de..95629d8c35 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -709,6 +709,51 @@ const auto hardware_resources_with_different_rw_rates =
   </ros2_control>
 )";
 
+const auto hardware_resources_with_negative_rw_rates =
+  R"(
+  <ros2_control name="TestActuatorHardware" type="actuator" rw_rate="-50">
+    <hardware>
+      <plugin>test_actuator</plugin>
+    </hardware>
+    <joint name="right_finger_joint">
+      <command_interface name="position"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <command_interface name="max_velocity" />
+    </joint>
+  </ros2_control>
+)";
+
+const auto hardware_resources_invalid_with_text_in_rw_rates =
+  R"(
+  <ros2_control name="TestActuatorHardware" type="actuator" rw_rate="d 50">
+    <hardware>
+      <plugin>test_actuator</plugin>
+    </hardware>
+    <joint name="right_finger_joint">
+      <command_interface name="position"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <command_interface name="max_velocity" />
+    </joint>
+  </ros2_control>
+)";
+
+const auto hardware_resources_invalid_out_of_range_in_rw_rates =
+  R"(
+  <ros2_control name="TestActuatorHardware" type="actuator" rw_rate="12345678901">
+    <hardware>
+      <plugin>test_actuator</plugin>
+    </hardware>
+    <joint name="right_finger_joint">
+      <command_interface name="position"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <command_interface name="max_velocity" />
+    </joint>
+  </ros2_control>
+)";
+
 const auto uninitializable_hardware_resources =
   R"(
   <ros2_control name="TestUninitializableActuatorHardware" type="actuator">