diff --git a/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp b/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp
index 801eacb445..0e93e990e6 100644
--- a/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp
+++ b/hardware_interface/test/test_resource_manager_prepare_perform_switch.cpp
@@ -367,21 +367,21 @@ TEST_F(
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
 
   // When TestActuatorHardware is INACTIVE expect OK
-  EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
+  EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
   EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, legal_keys_actuator));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
 
-  EXPECT_FALSE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
+  EXPECT_TRUE(rm_->prepare_command_mode_switch(legal_keys_actuator, empty_keys));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
   EXPECT_TRUE(rm_->perform_command_mode_switch(legal_keys_actuator, empty_keys));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
 
-  EXPECT_FALSE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
+  EXPECT_TRUE(rm_->prepare_command_mode_switch(empty_keys, legal_keys_actuator));
   EXPECT_EQ(claimed_system_acceleration_state_->get_value(), 0.0);
   EXPECT_EQ(claimed_actuator_position_state_->get_value(), 0.0);
   EXPECT_TRUE(rm_->perform_command_mode_switch(empty_keys, legal_keys_actuator));