diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index dafc650852..eec1fe7bbc 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -1490,8 +1490,8 @@ controller_interface::return_type ControllerManager::switch_controller(
       controller.info.claimed_interfaces.clear();
     }
     if (
-      std::find(activate_request_.begin(), activate_request_.end(), controller.info.name) !=
-      activate_request_.end())
+      std::find(activate_controllers.begin(), activate_controllers.end(), controller.info.name) !=
+      activate_controllers.end())
     {
       if (!is_controller_active(controller.c))
       {
@@ -1501,8 +1501,9 @@ controller_interface::return_type ControllerManager::switch_controller(
       }
     }
     if (
-      std::find(deactivate_request_.begin(), deactivate_request_.end(), controller.info.name) !=
-      deactivate_request_.end())
+      std::find(
+        deactivate_controllers.begin(), deactivate_controllers.end(), controller.info.name) !=
+      deactivate_controllers.end())
     {
       if (is_controller_active(controller.c))
       {
diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
index c143ab4862..48f5509794 100644
--- a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
+++ b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -1177,7 +1177,7 @@ TEST_P(
   switch_test_controllers(
     {DIFF_DRIVE_CONTROLLER, ODOM_PUBLISHER_CONTROLLER, SENSOR_FUSION_CONTROLLER}, {PID_RIGHT_WHEEL},
     test_param.strictness, expected.at(test_param.strictness).future_status,
-    expected.at(test_param.strictness).return_type);
+    controller_interface::return_type::ERROR);
 
   // Preceding controller should stay deactivated and following controller
   // should be deactivated (if BEST_EFFORT)
@@ -1508,8 +1508,7 @@ TEST_P(
 
   switch_test_controllers(
     {DIFF_DRIVE_CONTROLLER}, {PID_LEFT_WHEEL, PID_RIGHT_WHEEL}, test_param.strictness,
-    expected.at(test_param.strictness).future_status,
-    expected.at(test_param.strictness).return_type);
+    expected.at(test_param.strictness).future_status, controller_interface::return_type::ERROR);
 
   // Preceding controller should stay deactivated and following controller
   // should be deactivated (if BEST_EFFORT)
diff --git a/controller_manager/test/test_release_interfaces.cpp b/controller_manager/test/test_release_interfaces.cpp
index 9caef761ab..4dedb47241 100644
--- a/controller_manager/test/test_release_interfaces.cpp
+++ b/controller_manager/test/test_release_interfaces.cpp
@@ -84,7 +84,7 @@ TEST_F(TestReleaseInterfaces, switch_controllers_same_interface)
     ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
       << "switch_controller should be blocking until next update cycle";
     ControllerManagerRunner cm_runner(this);
-    EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
+    EXPECT_EQ(controller_interface::return_type::ERROR, switch_future.get());
     ASSERT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
       abstract_test_controller1.c->get_lifecycle_state().id());
@@ -188,7 +188,7 @@ TEST_F(TestReleaseInterfaces, switch_controllers_same_interface)
     ASSERT_EQ(std::future_status::timeout, switch_future.wait_for(std::chrono::milliseconds(100)))
       << "switch_controller should be blocking until next update cycle";
     ControllerManagerRunner cm_runner(this);
-    EXPECT_EQ(controller_interface::return_type::OK, switch_future.get());
+    EXPECT_EQ(controller_interface::return_type::ERROR, switch_future.get());
     ASSERT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
       abstract_test_controller1.c->get_lifecycle_state().id());