diff --git a/hardware_interface/test/test_components/test_actuator.cpp b/hardware_interface/test/test_components/test_actuator.cpp
index 2f606b74cb..e67de7a11d 100644
--- a/hardware_interface/test/test_components/test_actuator.cpp
+++ b/hardware_interface/test/test_components/test_actuator.cpp
@@ -120,7 +120,7 @@ class TestActuator : public ActuatorInterface
   double max_velocity_command_ = 0.0;
 };
 
-class TestUnitilizableActuator : public TestActuator
+class TestUnitializableActuator : public TestActuator
 {
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
   {
@@ -131,4 +131,4 @@ class TestUnitilizableActuator : public TestActuator
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestActuator, hardware_interface::ActuatorInterface)
-PLUGINLIB_EXPORT_CLASS(TestUnitilizableActuator, hardware_interface::ActuatorInterface)
+PLUGINLIB_EXPORT_CLASS(TestUnitializableActuator, hardware_interface::ActuatorInterface)
diff --git a/hardware_interface/test/test_components/test_components.xml b/hardware_interface/test/test_components/test_components.xml
index f029d3dd37..a4d66ef012 100644
--- a/hardware_interface/test/test_components/test_components.xml
+++ b/hardware_interface/test/test_components/test_components.xml
@@ -18,21 +18,21 @@
     </description>
   </class>
 
-  <class name="test_unitilizable_actuator" type="TestUnitilizableActuator" base_class_type="hardware_interface::ActuatorInterface">
+  <class name="test_unitializable_actuator" type="TestUnitializableActuator" base_class_type="hardware_interface::ActuatorInterface">
     <description>
-      Test Unitilizable Actuator
+      Test Unitializable Actuator
     </description>
   </class>
 
-  <class name="test_unitilizable_sensor" type="TestUnitilizableSensor" base_class_type="hardware_interface::SensorInterface">
+  <class name="test_unitializable_sensor" type="TestUnitializableSensor" base_class_type="hardware_interface::SensorInterface">
     <description>
-      Test Unitilizable Sensor
+      Test Unitializable Sensor
     </description>
   </class>
 
-  <class name="test_unitilizable_system" type="TestUnitilizableSystem" base_class_type="hardware_interface::SystemInterface">
+  <class name="test_unitializable_system" type="TestUnitializableSystem" base_class_type="hardware_interface::SystemInterface">
     <description>
-      Test Unitilizable System
+      Test Unitializable System
     </description>
   </class>
 </library>
diff --git a/hardware_interface/test/test_components/test_sensor.cpp b/hardware_interface/test/test_components/test_sensor.cpp
index 4811244138..149c4fa125 100644
--- a/hardware_interface/test/test_components/test_sensor.cpp
+++ b/hardware_interface/test/test_components/test_sensor.cpp
@@ -55,7 +55,7 @@ class TestSensor : public SensorInterface
   double velocity_state_ = 0.0;
 };
 
-class TestUnitilizableSensor : public TestSensor
+class TestUnitializableSensor : public TestSensor
 {
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
   {
@@ -66,4 +66,4 @@ class TestUnitilizableSensor : public TestSensor
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestSensor, hardware_interface::SensorInterface)
-PLUGINLIB_EXPORT_CLASS(TestUnitilizableSensor, hardware_interface::SensorInterface)
+PLUGINLIB_EXPORT_CLASS(TestUnitializableSensor, hardware_interface::SensorInterface)
diff --git a/hardware_interface/test/test_components/test_system.cpp b/hardware_interface/test/test_components/test_system.cpp
index 8945b77e2c..f82b3fe73b 100644
--- a/hardware_interface/test/test_components/test_system.cpp
+++ b/hardware_interface/test/test_components/test_system.cpp
@@ -117,7 +117,7 @@ class TestSystem : public SystemInterface
   double configuration_command_ = 0.0;
 };
 
-class TestUnitilizableSystem : public TestSystem
+class TestUnitializableSystem : public TestSystem
 {
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override
   {
@@ -128,4 +128,4 @@ class TestUnitilizableSystem : public TestSystem
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT
 PLUGINLIB_EXPORT_CLASS(TestSystem, hardware_interface::SystemInterface)
-PLUGINLIB_EXPORT_CLASS(TestUnitilizableSystem, hardware_interface::SystemInterface)
+PLUGINLIB_EXPORT_CLASS(TestUnitializableSystem, hardware_interface::SystemInterface)
diff --git a/hardware_interface/test/test_resource_manager.cpp b/hardware_interface/test/test_resource_manager.cpp
index 84519c20fa..4200cc4fbd 100644
--- a/hardware_interface/test/test_resource_manager.cpp
+++ b/hardware_interface/test/test_resource_manager.cpp
@@ -69,7 +69,7 @@ class TestableResourceManager : public hardware_interface::ResourceManager
   FRIEND_TEST(ResourceManagerTest, post_initialization_add_components);
   FRIEND_TEST(ResourceManagerTest, managing_controllers_reference_interfaces);
   FRIEND_TEST(ResourceManagerTest, resource_availability_and_claiming_in_lifecycle);
-  FRIEND_TEST(ResourceManagerTest, test_unitilizable_hardware_no_validation);
+  FRIEND_TEST(ResourceManagerTest, test_unitializable_hardware_no_validation);
 
   TestableResourceManager() : hardware_interface::ResourceManager() {}
 
@@ -155,22 +155,22 @@ TEST_F(ResourceManagerTest, post_initialization_with_urdf)
   ASSERT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_robot_urdf));
 }
 
-TEST_F(ResourceManagerTest, test_unitilizable_hardware_validation)
+TEST_F(ResourceManagerTest, test_unitializable_hardware_validation)
 {
   // If the the hardware can not be initialized and load_urdf tried to validate the interfaces a
   // runtime exception is thrown
   TestableResourceManager rm;
   ASSERT_THROW(
-    rm.load_urdf(ros2_control_test_assets::minimal_unitilizable_robot_urdf, true),
+    rm.load_urdf(ros2_control_test_assets::minimal_unitializable_robot_urdf, true),
     std::runtime_error);
 }
 
-TEST_F(ResourceManagerTest, test_unitilizable_hardware_no_validation)
+TEST_F(ResourceManagerTest, test_unitializable_hardware_no_validation)
 {
   // If the the hardware can not be initialized and load_urdf didn't try to validate the interfaces,
   // the interface should not show up
   TestableResourceManager rm;
-  EXPECT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_unitilizable_robot_urdf, false));
+  EXPECT_NO_THROW(rm.load_urdf(ros2_control_test_assets::minimal_unitializable_robot_urdf, false));
 
   // test actuator
   EXPECT_FALSE(rm.state_interface_exists("joint1/position"));
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
index e2b22adba5..d1860e5689 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -306,11 +306,11 @@ const auto hardware_resources =
   </ros2_control>
 )";
 
-const auto unitilizable_hardware_resources =
+const auto unitializable_hardware_resources =
   R"(
-  <ros2_control name="TestUnitilizableActuatorHardware" type="actuator">
+  <ros2_control name="TestUnitializableActuatorHardware" type="actuator">
     <hardware>
-      <plugin>test_unitilizable_actuator</plugin>
+      <plugin>test_unitializable_actuator</plugin>
     </hardware>
     <joint name="joint1">
       <command_interface name="position"/>
@@ -319,9 +319,9 @@ const auto unitilizable_hardware_resources =
       <command_interface name="max_velocity" />
     </joint>
   </ros2_control>
-  <ros2_control name="TestUnitilizableSensorHardware" type="sensor">
+  <ros2_control name="TestUnitializableSensorHardware" type="sensor">
     <hardware>
-      <plugin>test_unitilizable_sensor</plugin>
+      <plugin>test_unitializable_sensor</plugin>
       <param name="example_param_write_for_sec">2</param>
       <param name="example_param_read_for_sec">2</param>
     </hardware>
@@ -329,9 +329,9 @@ const auto unitilizable_hardware_resources =
       <state_interface name="velocity"/>
     </sensor>
   </ros2_control>
-  <ros2_control name="TestUnitilizableSystemHardware" type="system">
+  <ros2_control name="TestUnitializableSystemHardware" type="system">
     <hardware>
-      <plugin>test_unitilizable_system</plugin>
+      <plugin>test_unitializable_system</plugin>
       <param name="example_param_write_for_sec">2</param>
       <param name="example_param_read_for_sec">2</param>
     </hardware>
@@ -348,10 +348,6 @@ const auto unitilizable_hardware_resources =
       <state_interface name="velocity"/>
       <state_interface name="acceleration"/>
     </joint>
-    <joint name="configuration">
-      <command_interface name="max_tcp_jerk"/>
-      <state_interface name="max_tcp_jerk"/>
-    </joint>
   </ros2_control>
 )";
 
@@ -1015,8 +1011,8 @@ const auto gripper_hardware_resources_mimic_false_command_if =
 
 const auto minimal_robot_urdf =
   std::string(urdf_head) + std::string(hardware_resources) + std::string(urdf_tail);
-const auto minimal_unitilizable_robot_urdf =
-  std::string(urdf_head) + std::string(unitilizable_hardware_resources) + std::string(urdf_tail);
+const auto minimal_unitializable_robot_urdf =
+  std::string(urdf_head) + std::string(unitializable_hardware_resources) + std::string(urdf_tail);
 
 const auto minimal_robot_missing_state_keys_urdf =
   std::string(urdf_head) + std::string(hardware_resources_missing_state_keys) +