diff --git a/CHANGELOG.md b/CHANGELOG.md
index c8c9b648..6f778238 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,7 @@
 
 Release Versions:
 
+- [5.4.2](#542)
 - [5.4.1](#541)
 - [5.4.0](#540)
 - [5.3.0](#530)
@@ -38,6 +39,13 @@ Release Versions:
 - chore: harmonize parameter validation messages (#251)
 - feat: add assignments in c++ (#221)
 
+## 5.4.2
+
+### May 28th, 2026
+
+Version 5.4.2 is a patch release that fixes a bug in the controller base class where the joint commands would not be
+written back to the hardware after deactivation.
+
 ## 5.4.1
 
 ### April 8th, 2026
diff --git a/aica-package.toml b/aica-package.toml
index 788bdc93..0baae5b9 100644
--- a/aica-package.toml
+++ b/aica-package.toml
@@ -1,7 +1,7 @@
 #syntax=ghcr.io/aica-technology/package-builder:v1.4.0
 
 [metadata]
-version = "5.4.1"
+version = "5.4.2"
 description = "Modular ROS 2 extension library for dynamic composition of components and controllers with the AICA robotics framework"
 
 [metadata.collection]
diff --git a/source/modulo_components/package.xml b/source/modulo_components/package.xml
index 49515b1f..09edeec9 100644
--- a/source/modulo_components/package.xml
+++ b/source/modulo_components/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_components</name>
-  <version>5.4.1</version>
+  <version>5.4.2</version>
   <description>Modulo base classes that wrap ROS 2 Nodes as modular components for the AICA application framework</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
diff --git a/source/modulo_controllers/package.xml b/source/modulo_controllers/package.xml
index fc77d99c..75b191b0 100644
--- a/source/modulo_controllers/package.xml
+++ b/source/modulo_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>modulo_controllers</name>
-  <version>5.4.1</version>
+  <version>5.4.2</version>
   <description>Interface class for modulo controllers</description>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
diff --git a/source/modulo_controllers/src/ControllerInterface.cpp b/source/modulo_controllers/src/ControllerInterface.cpp
index af5dcffe..deedaa72 100644
--- a/source/modulo_controllers/src/ControllerInterface.cpp
+++ b/source/modulo_controllers/src/ControllerInterface.cpp
@@ -191,7 +191,14 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Contro
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 ControllerInterface::on_deactivate(const rclcpp_lifecycle::State&) {
   try {
-    return on_deactivate();
+    if (auto ret = on_deactivate(); ret != CallbackReturn::SUCCESS) {
+      return ret;
+    }
+    if (write_command_interfaces(rclcpp::Duration(0s)) != controller_interface::return_type::OK) {
+      RCLCPP_ERROR(get_node()->get_logger(), "Failed to write command interfaces on deactivation.");
+      return CallbackReturn::ERROR;
+    }
+    return CallbackReturn::SUCCESS;
   } catch (const std::exception& ex) {
     RCLCPP_ERROR_STREAM(get_node()->get_logger(), ex.what());
   }
diff --git a/source/modulo_core/package.xml b/source/modulo_core/package.xml
index 9ea4af09..9b8f7a3c 100644
--- a/source/modulo_core/package.xml
+++ b/source/modulo_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_core</name>
-  <version>5.4.1</version>
+  <version>5.4.2</version>
   <description>Modulo Core communication and translation utilities for interoperability with AICA Control Libraries</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
diff --git a/source/modulo_utils/package.xml b/source/modulo_utils/package.xml
index 015a7cb4..c5d552be 100644
--- a/source/modulo_utils/package.xml
+++ b/source/modulo_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_utils</name>
-  <version>5.4.1</version>
+  <version>5.4.2</version>
   <description>Modulo utils package for shared test fixtures</description>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
   <license>GPLv3</license>