diff --git a/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp b/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp
index 5c3ea22ca0..dad907f683 100644
--- a/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp
+++ b/hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp
@@ -23,6 +23,7 @@ enum class return_type : std::uint8_t
 {
   OK = 0,
   ERROR = 1,
+  INACTIVE = 2,
 };
 
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index 33236afd1c..2b3a10362f 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -167,48 +167,28 @@ class ResourceStorage
         }
       }
 
-      // add command interfaces to available list
-      for (const auto & interface : hardware_info_map_[hardware.get_name()].command_interfaces)
-      {
-        // TODO(destogl): check if interface should be available on configure
-        auto found_it = std::find(
-          available_command_interfaces_.begin(), available_command_interfaces_.end(), interface);
-
-        if (found_it == available_command_interfaces_.end())
-        {
-          available_command_interfaces_.emplace_back(interface);
-          RCUTILS_LOG_DEBUG_NAMED(
-            "resource_manager", "(hardware '%s'): '%s' command interface added into available list",
-            hardware.get_name().c_str(), interface.c_str());
-        }
-        else
-        {
-          // TODO(destogl): do here error management if interfaces are only partially added into
-          // "available" list - this should never be the case!
-          RCUTILS_LOG_WARN_NAMED(
-            "resource_manager",
-            "(hardware '%s'): '%s' command interface already in available list."
-            " This can happen due to multiple calls to 'configure'",
-            hardware.get_name().c_str(), interface.c_str());
-        }
-      }
     }
     return result;
   }
 
   void remove_all_hardware_interfaces_from_available_list(const std::string & hardware_name)
   {
-    // remove all command interfaces from available list
-    for (const auto & interface : hardware_info_map_[hardware_name].command_interfaces)
+    remove_all_state_interfaces_from_available_list(hardware_name);
+    remove_all_command_interfaces_from_available_list(hardware_name);
+  }
+
+  void remove_all_state_interfaces_from_available_list(const std::string & hardware_name)
+  {
+    for (const auto & interface : hardware_info_map_[hardware_name].state_interfaces)
     {
       auto found_it = std::find(
-        available_command_interfaces_.begin(), available_command_interfaces_.end(), interface);
+        available_state_interfaces_.begin(), available_state_interfaces_.end(), interface);
 
-      if (found_it != available_command_interfaces_.end())
+      if (found_it != available_state_interfaces_.end())
       {
-        available_command_interfaces_.erase(found_it);
+        available_state_interfaces_.erase(found_it);
         RCUTILS_LOG_DEBUG_NAMED(
-          "resource_manager", "(hardware '%s'): '%s' command interface removed from available list",
+          "resource_manager", "(hardware '%s'): '%s' state interface removed from available list",
           hardware_name.c_str(), interface.c_str());
       }
       else
@@ -217,22 +197,25 @@ class ResourceStorage
         // "available" list - this should never be the case!
         RCUTILS_LOG_WARN_NAMED(
           "resource_manager",
-          "(hardware '%s'): '%s' command interface not in available list. "
+          "(hardware '%s'): '%s' state interface not in available list. "
           "This should not happen (hint: multiple cleanup calls).",
           hardware_name.c_str(), interface.c_str());
       }
     }
-    // remove all state interfaces from available list
-    for (const auto & interface : hardware_info_map_[hardware_name].state_interfaces)
+  }
+
+  void remove_all_command_interfaces_from_available_list(const std::string & hardware_name)
+  {
+    for (const auto & interface : hardware_info_map_[hardware_name].command_interfaces)
     {
       auto found_it = std::find(
-        available_state_interfaces_.begin(), available_state_interfaces_.end(), interface);
+        available_command_interfaces_.begin(), available_command_interfaces_.end(), interface);
 
-      if (found_it != available_state_interfaces_.end())
+      if (found_it != available_command_interfaces_.end())
       {
-        available_state_interfaces_.erase(found_it);
+        available_command_interfaces_.erase(found_it);
         RCUTILS_LOG_DEBUG_NAMED(
-          "resource_manager", "(hardware '%s'): '%s' state interface removed from available list",
+          "resource_manager", "(hardware '%s'): '%s' command interface removed from available list",
           hardware_name.c_str(), interface.c_str());
       }
       else
@@ -241,7 +224,7 @@ class ResourceStorage
         // "available" list - this should never be the case!
         RCUTILS_LOG_WARN_NAMED(
           "resource_manager",
-          "(hardware '%s'): '%s' state interface not in available list. "
+          "(hardware '%s'): '%s' command interface not in available list. "
           "This should not happen (hint: multiple cleanup calls).",
           hardware_name.c_str(), interface.c_str());
       }
@@ -288,7 +271,31 @@ class ResourceStorage
 
     if (result)
     {
-      // TODO(destogl): make all command interfaces available (currently are all available)
+      // add command interfaces to available list
+      for (const auto & interface : hardware_info_map_[hardware.get_name()].command_interfaces)
+      {
+        // TODO(destogl): check if interface should be available on configure
+        auto found_it = std::find(
+          available_command_interfaces_.begin(), available_command_interfaces_.end(), interface);
+
+        if (found_it == available_command_interfaces_.end())
+        {
+          available_command_interfaces_.emplace_back(interface);
+          RCUTILS_LOG_DEBUG_NAMED(
+            "resource_manager", "(hardware '%s'): '%s' command interface added into available list",
+            hardware.get_name().c_str(), interface.c_str());
+        }
+        else
+        {
+          // TODO(destogl): do here error management if interfaces are only partially added into
+          // "available" list - this should never be the case!
+          RCUTILS_LOG_WARN_NAMED(
+            "resource_manager",
+            "(hardware '%s'): '%s' command interface already in available list."
+            " This can happen due to multiple calls to 'configure'",
+            hardware.get_name().c_str(), interface.c_str());
+        }
+      }
     }
 
     return result;
@@ -303,6 +310,8 @@ class ResourceStorage
 
     if (result)
     {
+      RCUTILS_LOG_INFO_NAMED("resource_manager", "Hardware '%s' has been deactivated", hardware.get_name().c_str());
+      remove_all_command_interfaces_from_available_list(hardware.get_name());
       // TODO(destogl): make all command interfaces unavailable that should be present only
       // when active (currently are all available) also at inactive
     }
@@ -1072,12 +1081,25 @@ HardwareReadWriteStatus ResourceManager::read(
   {
     for (auto & component : components)
     {
-      if (component.read(time, period) != return_type::OK)
+      auto ret_val = component.read(time, period);
+      if (ret_val == return_type::ERROR)
       {
         read_write_status.ok = false;
         read_write_status.failed_hardware_names.push_back(component.get_name());
         resource_storage_->remove_all_hardware_interfaces_from_available_list(component.get_name());
       }
+      else if (ret_val == return_type::INACTIVE)
+      {
+        using lifecycle_msgs::msg::State;
+        rclcpp_lifecycle::State state(State::PRIMARY_STATE_INACTIVE, lifecycle_state_names::INACTIVE);
+        set_component_state(component.get_name(), state);
+      }
+      else
+      {
+        using lifecycle_msgs::msg::State;
+        rclcpp_lifecycle::State state(State::PRIMARY_STATE_ACTIVE, lifecycle_state_names::ACTIVE);
+        set_component_state(component.get_name(), state);
+      }
     }
   };
 
@@ -1100,12 +1122,19 @@ HardwareReadWriteStatus ResourceManager::write(
   {
     for (auto & component : components)
     {
-      if (component.write(time, period) != return_type::OK)
+      auto ret_val = component.write(time, period);
+      if (ret_val == return_type::ERROR)
       {
         read_write_status.ok = false;
         read_write_status.failed_hardware_names.push_back(component.get_name());
         resource_storage_->remove_all_hardware_interfaces_from_available_list(component.get_name());
       }
+      else if (ret_val == return_type::INACTIVE)
+      {
+        using lifecycle_msgs::msg::State;
+        rclcpp_lifecycle::State state(State::PRIMARY_STATE_INACTIVE, lifecycle_state_names::INACTIVE);
+        set_component_state(component.get_name(), state);
+      }
     }
   };