diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index e51b95040c..5eeb8509cf 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -1352,9 +1352,11 @@ void ResourceManager::publish_all_interface_values() const
   interface_values.states = state_interface_values;
   interface_values.commands = command_interface_values;
 
-  rt_interface_values_publisher_->trylock();
-  rt_interface_values_publisher_->msg_ = interface_values;
-  rt_interface_values_publisher_->unlockAndPublish();
+  if(rt_interface_values_publisher_->trylock())
+  {
+    rt_interface_values_publisher_->msg_ = interface_values;
+    rt_interface_values_publisher_->unlockAndPublish();
+  }
 }
 
 // CM API: Called in "update"-thread