diff --git a/ign_ros2_control/src/ign_ros2_control_plugin.cpp b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
index 651c42f3..e5c3f61a 100644
--- a/ign_ros2_control/src/ign_ros2_control_plugin.cpp
+++ b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
@@ -286,6 +286,10 @@ void IgnitionROS2ControlPlugin::Configure(
   // Get controller manager node name
   std::string controllerManagerNodeName{"controller_manager"};
 
+  if (sdfPtr->HasElement("controller_manager_name")) {
+    controllerManagerNodeName = sdfPtr->GetElement("controller_manager_name")->Get<std::string>();
+  }
+
   std::string ns = "/";
   if (sdfPtr->HasElement("ros")) {
     sdf::ElementPtr sdfRos = sdfPtr->GetElement("ros");