diff --git a/controller_interface/test/test_led_rgb_device.cpp b/controller_interface/test/test_led_rgb_device.cpp
index 71550fd7c3..9261fac137 100644
--- a/controller_interface/test/test_led_rgb_device.cpp
+++ b/controller_interface/test/test_led_rgb_device.cpp
@@ -84,3 +84,22 @@ TEST_F(LedDeviceTest, validate_all)
   led_device_->release_interfaces();
   ASSERT_EQ(led_device_->command_interfaces_.size(), 0);
 }
+
+TEST_F(LedDeviceTest, validate_custom_names)
+{
+  std::string interface_name_r = "led/custom_r";
+  std::string interface_name_g = "led/custom_g";
+  std::string interface_name_b = "led/custom_b";
+  // Create device
+  led_device_ =
+    std::make_unique<TestableLedDevice>(interface_name_r, interface_name_g, interface_name_b);
+  EXPECT_EQ(led_device_->name_, "");
+
+  EXPECT_EQ(led_device_->interface_names_.size(), size_);
+  EXPECT_EQ(led_device_->command_interfaces_.capacity(), size_);
+
+  // Validate custom interface_names_
+  EXPECT_EQ(led_device_->interface_names_[0], interface_name_r);
+  EXPECT_EQ(led_device_->interface_names_[1], interface_name_g);
+  EXPECT_EQ(led_device_->interface_names_[2], interface_name_b);
+}
diff --git a/controller_interface/test/test_led_rgb_device.hpp b/controller_interface/test/test_led_rgb_device.hpp
index 525244572f..2e673eed8b 100644
--- a/controller_interface/test/test_led_rgb_device.hpp
+++ b/controller_interface/test/test_led_rgb_device.hpp
@@ -28,11 +28,19 @@
 class TestableLedDevice : public semantic_components::LEDRgbDevice
 {
   FRIEND_TEST(LedDeviceTest, validate_all);
+  FRIEND_TEST(LedDeviceTest, validate_custom_names);
 
 public:
   // Use default command interface names
   explicit TestableLedDevice(const std::string & name) : LEDRgbDevice{name} {}
 
+  TestableLedDevice(
+    const std::string & interface_r, const std::string & interface_g,
+    const std::string & interface_b)
+  : LEDRgbDevice{interface_r, interface_g, interface_b}
+  {
+  }
+
   virtual ~TestableLedDevice() = default;
 };