diff --git a/hardware_interface/test/mock_components/test_generic_system.cpp b/hardware_interface/test/mock_components/test_generic_system.cpp
index fb8f04b269f..0eb68d20527 100644
--- a/hardware_interface/test/mock_components/test_generic_system.cpp
+++ b/hardware_interface/test/mock_components/test_generic_system.cpp
@@ -69,7 +69,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
@@ -88,7 +88,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_asymetric_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
@@ -108,7 +108,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_standard_interfaces_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
@@ -131,7 +131,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_with_other_interface_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
@@ -161,7 +161,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_with_sensor_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
@@ -189,7 +189,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_with_sensor_mock_command_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="mock_sensor_commands">true</param>
@@ -218,7 +218,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_with_sensor_mock_command_True_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="fake_sensor_commands">True</param>
@@ -247,7 +247,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_with_mimic_joint_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
     </hardware>
@@ -271,7 +271,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_standard_interfaces_with_offset_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="position_state_following_offset">-3</param>
@@ -297,7 +297,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_missing_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="position_state_following_offset">-3</param>
@@ -322,7 +322,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_standard_interfaces_with_custom_interface_for_offset_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="position_state_following_offset">-3</param>
@@ -349,7 +349,7 @@ class TestGenericSystem : public ::testing::Test
 
     valid_urdf_ros2_control_system_robot_with_gpio_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="example_param_write_for_sec">2</param>
@@ -385,7 +385,7 @@ class TestGenericSystem : public ::testing::Test
 
     valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="mock_gpio_commands">true</param>
@@ -419,7 +419,7 @@ class TestGenericSystem : public ::testing::Test
 
     valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="fake_gpio_commands">True</param>
@@ -453,7 +453,7 @@ class TestGenericSystem : public ::testing::Test
 
     sensor_with_initial_value_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>fake_components/GenericSystem</plugin>
     </hardware>
@@ -473,7 +473,7 @@ class TestGenericSystem : public ::testing::Test
 
     gpio_with_initial_value_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>fake_components/GenericSystem</plugin>
     </hardware>
@@ -487,7 +487,7 @@ class TestGenericSystem : public ::testing::Test
 
     hardware_system_2dof_standard_interfaces_with_different_control_modes_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="calculate_dynamics">true</param>
@@ -520,7 +520,7 @@ class TestGenericSystem : public ::testing::Test
 
     valid_hardware_system_2dof_standard_interfaces_with_different_control_modes_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>mock_components/GenericSystem</plugin>
       <param name="calculate_dynamics">true</param>
@@ -560,7 +560,7 @@ class TestGenericSystem : public ::testing::Test
 
     disabled_commands_ =
       R"(
-  <ros2_control name="MockHardwareSystem" type="system">
+  <ros2_control name="GenericSystem2dof" type="system">
     <hardware>
       <plugin>fake_components/GenericSystem</plugin>
       <param name="disable_commands">True</param>
@@ -714,7 +714,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_symetric_interfaces)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm, {"MockHardwareSystem"});
+  activate_components(rm);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -745,7 +745,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_asymetric_interfaces)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm, {"MockHardwareSystem"});
+  activate_components(rm);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -892,7 +892,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_standard_interfaces_ +
               ros2_control_test_assets::urdf_tail;
 
-  generic_system_functional_test(urdf, {"MockHardwareSystem"});
+  generic_system_functional_test(urdf);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_other_interfaces)
@@ -901,7 +901,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_other_interfaces)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm, {"MockHardwareSystem"});
+  activate_components(rm);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -984,7 +984,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm, {"MockHardwareSystem"});
+  activate_components(rm);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1205,7 +1205,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_sensor_mock_command_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_sensor_commands(urdf, "MockHardwareSystem");
+  test_generic_system_with_mock_sensor_commands(urdf, "GenericSystem2dof");
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
@@ -1214,7 +1214,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_sensor_mock_command_True)
               hardware_system_2dof_with_sensor_mock_command_True_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_sensor_commands(urdf, "MockHardwareSystem");
+  test_generic_system_with_mock_sensor_commands(urdf, "GenericSystem2dof");
 }
 
 void TestGenericSystem::test_generic_system_with_mimic_joint(const std::string & urdf)
@@ -1288,7 +1288,7 @@ TEST_F(TestGenericSystem, hardware_system_2dof_with_mimic_joint)
   auto urdf = ros2_control_test_assets::urdf_head + hardware_system_2dof_with_mimic_joint_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mimic_joint(urdf, "MockHardwareSystem");
+  test_generic_system_with_mimic_joint(urdf, "GenericSystem2dof");
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset)
@@ -1297,7 +1297,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset)
               hardware_system_2dof_standard_interfaces_with_offset_ +
               ros2_control_test_assets::urdf_tail;
 
-  generic_system_functional_test(urdf, "MockHardwareSystem", -3);
+  generic_system_functional_test(urdf, -3);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_interface_missing)
@@ -1307,7 +1307,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_i
               ros2_control_test_assets::urdf_tail;
 
   // custom interface is missing so offset will not be applied
-  generic_system_functional_test(urdf, "MockHardwareSystem", 0.0);
+  generic_system_functional_test(urdf, 0.0);
 }
 
 TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_interface)
@@ -1320,7 +1320,7 @@ TEST_F(TestGenericSystem, generic_system_2dof_functionality_with_offset_custom_i
 
   TestableResourceManager rm(urdf);
 
-  const std::string hardware_name = "MockHardwareSystem";
+  const std::string hardware_name = "GenericSystem2dof";
 
   // check is hardware is configured
   auto status_map = rm.get_components_status();
@@ -1436,7 +1436,7 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio)
               valid_urdf_ros2_control_system_robot_with_gpio_ + ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
 
-  const std::string hardware_name = "MockHardwareSystem";
+  const std::string hardware_name = "GenericSystem2dof";
 
   // check is hardware is started
   auto status_map = rm.get_components_status();
@@ -1644,7 +1644,7 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_co
               valid_urdf_ros2_control_system_robot_with_gpio_mock_command_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_gpio_commands(urdf, "MockHardwareSystem");
+  test_generic_system_with_mock_gpio_commands(urdf, "GenericSystem2dof");
 }
 
 TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True)
@@ -1653,7 +1653,7 @@ TEST_F(TestGenericSystem, valid_urdf_ros2_control_system_robot_with_gpio_mock_co
               valid_urdf_ros2_control_system_robot_with_gpio_mock_command_True_ +
               ros2_control_test_assets::urdf_tail;
 
-  test_generic_system_with_mock_gpio_commands(urdf, "MockHardwareSystem");
+  test_generic_system_with_mock_gpio_commands(urdf, "GenericSystem2dof");
 }
 
 TEST_F(TestGenericSystem, sensor_with_initial_value)
@@ -1662,7 +1662,7 @@ TEST_F(TestGenericSystem, sensor_with_initial_value)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm, {"MockHardwareSystem"});
+  activate_components(rm);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1690,7 +1690,7 @@ TEST_F(TestGenericSystem, gpio_with_initial_value)
               ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm, {"MockHardwareSystem"});
+  activate_components(rm);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1711,7 +1711,7 @@ TEST_F(TestGenericSystem, simple_dynamics_pos_vel_acc_control_modes_interfaces)
 
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm, {"MockHardwareSystem"});
+  activate_components(rm);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1905,7 +1905,7 @@ TEST_F(TestGenericSystem, disabled_commands_flag_is_active)
     ros2_control_test_assets::urdf_head + disabled_commands_ + ros2_control_test_assets::urdf_tail;
   TestableResourceManager rm(urdf);
   // Activate components to get all interfaces available
-  activate_components(rm, {"MockHardwareSystem"});
+  activate_components(rm);
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
@@ -1953,7 +1953,7 @@ TEST_F(TestGenericSystem, prepare_command_mode_switch_works_with_all_example_tag
     TestableResourceManager rm(
       ros2_control_test_assets::urdf_head + urdf + ros2_control_test_assets::urdf_tail);
     rclcpp_lifecycle::State state(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, "active");
-    rm.set_component_state("MockHardwareSystem", state);
+    rm.set_component_state("GenericSystem2dof", state);
     auto start_interfaces = rm.command_interface_keys();
     std::vector<std::string> stop_interfaces;
     return rm.prepare_command_mode_switch(start_interfaces, stop_interfaces);