diff --git a/controller_manager/doc/parameters_context.yaml b/controller_manager/doc/parameters_context.yaml
index f5df997661..a015765c79 100644
--- a/controller_manager/doc/parameters_context.yaml
+++ b/controller_manager/doc/parameters_context.yaml
@@ -5,14 +5,14 @@ hardware_components_initial_state: |
     Detailed explanation of each parameter is given below.
     The full structure of the map is given in the following example:
 
-  .. code-block:: yaml
+    .. code-block:: yaml
 
-      hardware_components_initial_state:
-        unconfigured:
-          - "arm1"
-          - "arm2"
-        inactive:
-          - "base3"
+        hardware_components_initial_state:
+          unconfigured:
+            - "arm1"
+            - "arm2"
+          inactive:
+            - "base3"
 
 diagnostics.threshold.controllers.periodicity: |
   The ``periodicity`` diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 6ffb154cb4..d9de54ea38 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -415,6 +415,11 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
     }
   };
 
+  if (cm_param_listener_->is_old(*params_))
+  {
+    *params_ = cm_param_listener_->get_params();
+  }
+
   // unconfigured (loaded only)
   set_components_to_state(
     params_->hardware_components_initial_state.unconfigured,
diff --git a/controller_manager/src/controller_manager_parameters.yaml b/controller_manager/src/controller_manager_parameters.yaml
index b5f9dfdc0a..dd4bf1bc1b 100644
--- a/controller_manager/src/controller_manager_parameters.yaml
+++ b/controller_manager/src/controller_manager_parameters.yaml
@@ -11,7 +11,6 @@ controller_manager:
       type: string_array,
       default_value: [],
       description: "Defines which hardware components will be only loaded immediately when controller manager is started.",
-      read_only: true,
       validation: {
         unique<>: null,
       }
@@ -21,7 +20,6 @@ controller_manager:
       type: string_array,
       default_value: [],
       description: "Defines which hardware components will be configured immediately when controller manager is started.",
-      read_only: true,
       validation: {
         unique<>: null,
       }
diff --git a/controller_manager/test/test_hardware_management_srvs.cpp b/controller_manager/test/test_hardware_management_srvs.cpp
index c7b67e0cfe..bdd48f15ae 100644
--- a/controller_manager/test/test_hardware_management_srvs.cpp
+++ b/controller_manager/test/test_hardware_management_srvs.cpp
@@ -65,6 +65,7 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
     cm_ = std::make_shared<controller_manager::ControllerManager>(executor_, TEST_CM_NAME);
     run_updater_ = false;
 
+    SetUpSrvsCMExecutor();
     cm_->set_parameter(rclcpp::Parameter(
       "hardware_components_initial_state.unconfigured",
       std::vector<std::string>({TEST_SYSTEM_HARDWARE_NAME})));
@@ -72,11 +73,10 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
       "hardware_components_initial_state.inactive",
       std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME})));
 
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
     auto msg = std_msgs::msg::String();
     msg.data = ros2_control_test_assets::minimal_robot_urdf;
     cm_->robot_description_callback(msg);
-
-    SetUpSrvsCMExecutor();
   }
 
   void check_component_fileds(