diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 6188522093..e8687ac0f4 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -180,6 +180,9 @@ rclcpp::NodeOptions get_cm_node_options()
   // Required for getting types of controllers to be loaded via service call
   node_options.allow_undeclared_parameters(true);
   node_options.automatically_declare_parameters_from_overrides(true);
+#if RCLCPP_VERSION_MAJOR >= 21
+  node_options.enable_logger_service(true);
+#endif
   return node_options;
 }