From 2baf0b1bf29afeea88f785da5a74de050ce6e1a6 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Tue, 25 Jun 2024 06:44:45 +0200
Subject: [PATCH] enable logger services for the controller_manager

---
 controller_manager/src/controller_manager.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index e7eb170817..ed312aa47c 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;
 }