diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
index 81bcc020dd..149f79508f 100644
--- a/hardware_interface/test/test_component_interfaces.cpp
+++ b/hardware_interface/test/test_component_interfaces.cpp
@@ -32,6 +32,7 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "ros2_control_test_assets/components_urdfs.hpp"
@@ -778,18 +779,33 @@ class DummySystemPreparePerform : public hardware_interface::SystemInterface
 };
 
 }  // namespace test_components
+class TestComponentInterfaces : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    if (!rclcpp::ok())
+    {
+      rclcpp::init(0, nullptr);
+    }
+  }
 
+  void TearDown() override { rclcpp::shutdown(); }
+  std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_ = nullptr;
+};
 // BEGIN (Handle export change): for backward compatibility
-TEST(TestComponentInterfaces, dummy_actuator)
+TEST_F(TestComponentInterfaces, dummy_actuator)
 {
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
-  hardware_interface::HardwareInfo mock_hw_info{};
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = actuator_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -879,7 +895,7 @@ TEST(TestComponentInterfaces, dummy_actuator)
 }
 // END
 
-TEST(TestComponentInterfaces, dummy_actuator_default)
+TEST_F(TestComponentInterfaces, dummy_actuator_default)
 {
   hardware_interface::Actuator actuator_hw(
     std::make_unique<test_components::DummyActuatorDefault>());
@@ -895,6 +911,7 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
   params.hardware_info = dummy_actuator;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = actuator_hw.initialize(params);
 
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
@@ -1008,16 +1025,18 @@ TEST(TestComponentInterfaces, dummy_actuator_default)
 }
 
 // BEGIN (Handle export change): for backward compatibility
-TEST(TestComponentInterfaces, dummy_sensor)
+TEST_F(TestComponentInterfaces, dummy_sensor)
 {
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensor>());
 
-  hardware_interface::HardwareInfo mock_hw_info{};
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_sensor_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = sensor_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1045,7 +1064,7 @@ TEST(TestComponentInterfaces, dummy_sensor)
 }
 // END
 
-TEST(TestComponentInterfaces, dummy_sensor_default)
+TEST_F(TestComponentInterfaces, dummy_sensor_default)
 {
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensorDefault>());
 
@@ -1061,6 +1080,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default)
   params.hardware_info = voltage_sensor_res;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = sensor_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1092,7 +1112,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default)
   EXPECT_EQ(0x666, state_interfaces[si_sens1_vol]->get_optional().value());
 }
 
-TEST(TestComponentInterfaces, dummy_sensor_default_joint)
+TEST_F(TestComponentInterfaces, dummy_sensor_default_joint)
 {
   hardware_interface::Sensor sensor_hw(
     std::make_unique<test_components::DummySensorJointDefault>());
@@ -1109,6 +1129,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_joint)
   params.hardware_info = sensor_res;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = sensor_hw.initialize(params);
   ASSERT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   ASSERT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1151,16 +1172,18 @@ TEST(TestComponentInterfaces, dummy_sensor_default_joint)
 }
 
 // BEGIN (Handle export change): for backward compatibility
-TEST(TestComponentInterfaces, dummy_system)
+TEST_F(TestComponentInterfaces, dummy_system)
 {
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
-  hardware_interface::HardwareInfo mock_hw_info{};
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = system_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1284,7 +1307,7 @@ TEST(TestComponentInterfaces, dummy_system)
 }
 // END
 
-TEST(TestComponentInterfaces, dummy_system_default)
+TEST_F(TestComponentInterfaces, dummy_system_default)
 {
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystemDefault>());
 
@@ -1300,6 +1323,7 @@ TEST(TestComponentInterfaces, dummy_system_default)
   params.hardware_info = dummy_system;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = system_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1500,16 +1524,19 @@ TEST(TestComponentInterfaces, dummy_system_default)
   EXPECT_EQ(hardware_interface::return_type::OK, system_hw.perform_command_mode_switch({}, {}));
 }
 
-TEST(TestComponentInterfaces, dummy_command_mode_system)
+TEST_F(TestComponentInterfaces, dummy_command_mode_system)
 {
   hardware_interface::System system_hw(
     std::make_unique<test_components::DummySystemPreparePerform>());
-  hardware_interface::HardwareInfo mock_hw_info{};
+
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = system_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1537,16 +1564,18 @@ TEST(TestComponentInterfaces, dummy_command_mode_system)
 }
 
 // BEGIN (Handle export change): for backward compatibility
-TEST(TestComponentInterfaces, dummy_actuator_read_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_actuator_read_error_behavior)
 {
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
-  hardware_interface::HardwareInfo mock_hw_info{};
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = actuator_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1602,7 +1631,7 @@ TEST(TestComponentInterfaces, dummy_actuator_read_error_behavior)
 }
 // END
 
-TEST(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
 {
   hardware_interface::Actuator actuator_hw(
     std::make_unique<test_components::DummyActuatorDefault>());
@@ -1619,6 +1648,7 @@ TEST(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
   params.hardware_info = dummy_actuator;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = actuator_hw.initialize(params);
 
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
@@ -1678,16 +1708,18 @@ TEST(TestComponentInterfaces, dummy_actuator_default_read_error_behavior)
 }
 
 // BEGIN (Handle export change): for backward compatibility
-TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_actuator_write_error_behavior)
 {
   hardware_interface::Actuator actuator_hw(std::make_unique<test_components::DummyActuator>());
 
-  hardware_interface::HardwareInfo mock_hw_info{};
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_actuator_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = actuator_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1743,7 +1775,7 @@ TEST(TestComponentInterfaces, dummy_actuator_write_error_behavior)
 }
 // END
 
-TEST(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
 {
   hardware_interface::Actuator actuator_hw(
     std::make_unique<test_components::DummyActuatorDefault>());
@@ -1760,6 +1792,7 @@ TEST(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
   params.hardware_info = dummy_actuator;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = actuator_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -1818,16 +1851,18 @@ TEST(TestComponentInterfaces, dummy_actuator_default_write_error_behavior)
 }
 
 // BEGIN (Handle export change): for backward compatibility
-TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_sensor_read_error_behavior)
 {
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensor>());
 
-  hardware_interface::HardwareInfo mock_hw_info{};
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_sensor_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = sensor_hw.initialize(params);
 
   auto state_interfaces = sensor_hw.export_state_interfaces();
@@ -1888,7 +1923,7 @@ TEST(TestComponentInterfaces, dummy_sensor_read_error_behavior)
 }
 // END
 
-TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
 {
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensorDefault>());
 
@@ -1904,6 +1939,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
   params.hardware_info = voltage_sensor_res;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = sensor_hw.initialize(params);
 
   auto state_interfaces = sensor_hw.export_state_interfaces();
@@ -1953,16 +1989,18 @@ TEST(TestComponentInterfaces, dummy_sensor_default_read_error_behavior)
 }
 
 // BEGIN (Handle export change): for backward compatibility
-TEST(TestComponentInterfaces, dummy_system_read_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_system_read_error_behavior)
 {
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
-  hardware_interface::HardwareInfo mock_hw_info{};
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = system_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -2023,7 +2061,7 @@ TEST(TestComponentInterfaces, dummy_system_read_error_behavior)
 }
 // END
 
-TEST(TestComponentInterfaces, dummy_system_default_read_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_system_default_read_error_behavior)
 {
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystemDefault>());
 
@@ -2039,6 +2077,7 @@ TEST(TestComponentInterfaces, dummy_system_default_read_error_behavior)
   params.hardware_info = dummy_system;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = system_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -2099,16 +2138,18 @@ TEST(TestComponentInterfaces, dummy_system_default_read_error_behavior)
 }
 
 // BEGIN (Handle export change): for backward compatibility
-TEST(TestComponentInterfaces, dummy_system_write_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_system_write_error_behavior)
 {
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystem>());
 
-  hardware_interface::HardwareInfo mock_hw_info{};
+  hardware_interface::HardwareInfo mock_hw_info;
+  mock_hw_info.name = "mock_hw";
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("test_system_components");
   hardware_interface::HardwareComponentParams params;
   params.hardware_info = mock_hw_info;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = system_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -2169,7 +2210,7 @@ TEST(TestComponentInterfaces, dummy_system_write_error_behavior)
 }
 // END
 
-TEST(TestComponentInterfaces, dummy_system_default_write_error_behavior)
+TEST_F(TestComponentInterfaces, dummy_system_default_write_error_behavior)
 {
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystemDefault>());
 
@@ -2185,6 +2226,7 @@ TEST(TestComponentInterfaces, dummy_system_default_write_error_behavior)
   params.hardware_info = dummy_system;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = system_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
diff --git a/hardware_interface/test/test_component_interfaces_custom_export.cpp b/hardware_interface/test/test_component_interfaces_custom_export.cpp
index 80e9ab83f9..f2ff2925e7 100644
--- a/hardware_interface/test/test_component_interfaces_custom_export.cpp
+++ b/hardware_interface/test/test_component_interfaces_custom_export.cpp
@@ -32,6 +32,7 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "ros2_control_test_assets/components_urdfs.hpp"
@@ -150,8 +151,21 @@ class DummySystemDefault : public hardware_interface::SystemInterface
 };
 
 }  // namespace test_components
+class TestComponentInterfaces : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    if (!rclcpp::ok())
+    {
+      rclcpp::init(0, nullptr);
+    }
+  }
 
-TEST(TestComponentInterfaces, dummy_actuator_default_custom_export)
+  void TearDown() override { rclcpp::shutdown(); }
+  std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_ = nullptr;
+};
+TEST_F(TestComponentInterfaces, dummy_actuator_default_custom_export)
 {
   hardware_interface::Actuator actuator_hw(
     std::make_unique<test_components::DummyActuatorDefault>());
@@ -167,6 +181,7 @@ TEST(TestComponentInterfaces, dummy_actuator_default_custom_export)
   params.hardware_info = dummy_actuator;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = actuator_hw.initialize(params);
 
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
@@ -220,7 +235,7 @@ TEST(TestComponentInterfaces, dummy_actuator_default_custom_export)
   }
 }
 
-TEST(TestComponentInterfaces, dummy_sensor_default_custom_export)
+TEST_F(TestComponentInterfaces, dummy_sensor_default_custom_export)
 {
   hardware_interface::Sensor sensor_hw(std::make_unique<test_components::DummySensorDefault>());
 
@@ -236,6 +251,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_custom_export)
   params.hardware_info = voltage_sensor_res;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = sensor_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());
@@ -260,7 +276,7 @@ TEST(TestComponentInterfaces, dummy_sensor_default_custom_export)
   }
 }
 
-TEST(TestComponentInterfaces, dummy_system_default_custom_export)
+TEST_F(TestComponentInterfaces, dummy_system_default_custom_export)
 {
   hardware_interface::System system_hw(std::make_unique<test_components::DummySystemDefault>());
 
@@ -276,6 +292,7 @@ TEST(TestComponentInterfaces, dummy_system_default_custom_export)
   params.hardware_info = dummy_system;
   params.clock = node->get_clock();
   params.logger = node->get_logger();
+  params.executor = executor_;
   auto state = system_hw.initialize(params);
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, state.id());
   EXPECT_EQ(hardware_interface::lifecycle_state_names::UNCONFIGURED, state.label());