diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 295f5df4d4..08cebdad09 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -289,6 +289,7 @@ void ControllerManager::init_controller_manager()
   // Get parameters needed for RT "update" loop to work
   if (is_resource_manager_initialized())
   {
+    resource_manager_->import_joint_limiters(robot_description_);
     init_services();
   }
   else
@@ -370,6 +371,7 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String &
       get_logger(),
       "Resource Manager has been successfully initialized. Starting Controller Manager "
       "services...");
+    resource_manager_->import_joint_limiters(robot_description_);
     init_services();
   }
 }
diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
index bcd53ad541..cd759a96e4 100644
--- a/hardware_interface/include/hardware_interface/resource_manager.hpp
+++ b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -89,6 +89,12 @@ class ResourceManager
   virtual bool load_and_initialize_components(
     const std::string & urdf, const unsigned int update_rate = 100);
 
+  /**
+   * @brief Import joint limiters from the URDF.
+   * @param urdf string containing the URDF.
+   */
+  void import_joint_limiters(const std::string & urdf);
+
   /**
    * @brief if the resource manager load_and_initialize_components(...) function has been called
    * this returns true. We want to permit to loading the urdf later on, but we currently don't want
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index a076e90a62..e2f1110206 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -1160,7 +1160,6 @@ bool ResourceManager::load_and_initialize_components(
   resource_storage_->cm_update_rate_ = update_rate;
 
   auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
-  resource_storage_->import_joint_limiters(hardware_info);
   // Set the update rate for all hardware components
   for (auto & hw : hardware_info)
   {
@@ -1235,6 +1234,12 @@ bool ResourceManager::load_and_initialize_components(
   return components_are_loaded_and_initialized_;
 }
 
+void ResourceManager::import_joint_limiters(const std::string & urdf)
+{
+  const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
+  resource_storage_->import_joint_limiters(hardware_info);
+}
+
 bool ResourceManager::are_components_initialized() const
 {
   return components_are_loaded_and_initialized_;
diff --git a/hardware_interface_testing/test/test_resource_manager.cpp b/hardware_interface_testing/test/test_resource_manager.cpp
index 37065ccf01..424d54e882 100644
--- a/hardware_interface_testing/test/test_resource_manager.cpp
+++ b/hardware_interface_testing/test/test_resource_manager.cpp
@@ -2165,6 +2165,7 @@ class ResourceManagerTestCommandLimitEnforcement : public ResourceManagerTest
   {
     rm = std::make_shared<TestableResourceManager>(
       node_, ros2_control_test_assets::minimal_robot_urdf, false);
+    rm->import_joint_limiters(ros2_control_test_assets::minimal_robot_urdf);
     activate_components(*rm);
 
     cm_update_rate_ = 100u;  // The default value inside