diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
index 02a869d7b8..af9231153d 100644
--- a/hardware_interface/include/hardware_interface/handle.hpp
+++ b/hardware_interface/include/hardware_interface/handle.hpp
@@ -27,7 +27,6 @@
 #include <shared_mutex>
 #include <string>
 #include <utility>
-#include <variant>
 
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/introspection.hpp"
@@ -60,8 +59,6 @@ std::string get_type_name()
 namespace hardware_interface
 {
 
-using HANDLE_DATATYPE = std::variant<std::monostate, double, bool>;
-
 /// A handle used to get and set a value on a given interface.
 class Handle
 {
@@ -357,17 +354,26 @@ class StateInterface : public Handle
 
   void registerIntrospection() const
   {
-    if (value_ptr_ || std::holds_alternative<double>(value_))
+    if (value_ptr_ || data_type_.is_castable_to_double())
     {
       std::function<double()> f = [this]()
-      { return value_ptr_ ? *value_ptr_ : std::get<double>(value_); };
+      {
+        if (value_ptr_)
+        {
+          return *value_ptr_;
+        }
+        else
+        {
+          return data_type_.cast_to_double(value_);
+        }
+      };
       DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION("state_interface." + get_name(), f);
     }
   }
 
   void unregisterIntrospection() const
   {
-    if (value_ptr_ || std::holds_alternative<double>(value_))
+    if (value_ptr_ || data_type_.is_castable_to_double())
     {
       DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION("state_interface." + get_name());
     }
@@ -431,10 +437,19 @@ class CommandInterface : public Handle
 
   void registerIntrospection() const
   {
-    if (value_ptr_ || std::holds_alternative<double>(value_))
+    if (value_ptr_ || data_type_.is_castable_to_double())
     {
       std::function<double()> f = [this]()
-      { return value_ptr_ ? *value_ptr_ : std::get<double>(value_); };
+      {
+        if (value_ptr_)
+        {
+          return *value_ptr_;
+        }
+        else
+        {
+          return data_type_.cast_to_double(value_);
+        }
+      };
       DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION("command_interface." + get_name(), f);
       DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION(
         "command_interface." + get_name() + ".is_limited", &is_command_limited_);
@@ -443,7 +458,7 @@ class CommandInterface : public Handle
 
   void unregisterIntrospection() const
   {
-    if (value_ptr_ || std::holds_alternative<double>(value_))
+    if (value_ptr_ || data_type_.is_castable_to_double())
     {
       DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION("command_interface." + get_name());
       DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION(
diff --git a/hardware_interface/include/hardware_interface/hardware_info.hpp b/hardware_interface/include/hardware_interface/hardware_info.hpp
index 013e20a07e..719c222a65 100644
--- a/hardware_interface/include/hardware_interface/hardware_info.hpp
+++ b/hardware_interface/include/hardware_interface/hardware_info.hpp
@@ -15,8 +15,11 @@
 #ifndef HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
 #define HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
 
+#include <fmt/compile.h>
+
 #include <string>
 #include <unordered_map>
+#include <variant>
 #include <vector>
 
 #include "joint_limits/joint_limits.hpp"
@@ -133,6 +136,8 @@ struct TransmissionInfo
 /**
  * Hardware handles supported types
  */
+
+using HANDLE_DATATYPE = std::variant<std::monostate, double, bool>;
 class HandleDataType
 {
 public:
@@ -202,6 +207,27 @@ class HandleDataType
     }
   }
 
+  /**
+   * @brief Cast the given value to double.
+   * @param value The value to be casted.
+   * @return The casted value.
+   * @throw std::runtime_error if the HandleDataType cannot be casted to double.
+   * @note Once we add support for more data types, this function should be updated
+   */
+  double cast_to_double(const HANDLE_DATATYPE & value) const
+  {
+    switch (value_)
+    {
+      case DOUBLE:
+        return std::get<double>(value);
+      case BOOL:
+        return static_cast<double>(std::get<bool>(value));
+      default:
+        throw std::runtime_error(
+          fmt::format(FMT_COMPILE("Data type : '{}' cannot be casted to double."), to_string()));
+    }
+  }
+
   HandleDataType from_string(const std::string & data_type) { return HandleDataType(data_type); }
 
 private: