diff --git a/hardware_interface/include/hardware_interface/introspection.hpp b/hardware_interface/include/hardware_interface/introspection.hpp
index ca36d88be3..3bc6f06107 100644
--- a/hardware_interface/include/hardware_interface/introspection.hpp
+++ b/hardware_interface/include/hardware_interface/introspection.hpp
@@ -24,10 +24,28 @@ namespace hardware_interface
 constexpr char DEFAULT_REGISTRY_KEY[] = "ros2_control";
 constexpr char DEFAULT_INTROSPECTION_TOPIC[] = "~/introspection_data";
 
-#define REGISTER_ROS2_CONTROL_INTROSPECTION(ID, ENTITY)                      \
+#define REGISTER_ROS2_CONTROL_INTROSPECTION_2_ARGS(ID, ENTITY)               \
   REGISTER_ENTITY(                                                           \
     hardware_interface::DEFAULT_REGISTRY_KEY, get_name() + "." + ID, ENTITY, \
     &stats_registrations_, false)
+
+#define REGISTER_ROS2_CONTROL_INTROSPECTION_3_ARGS(ID, ENTITY, ENABLE)       \
+  REGISTER_ENTITY(                                                           \
+    hardware_interface::DEFAULT_REGISTRY_KEY, get_name() + "." + ID, ENTITY, \
+    &stats_registrations_, ENABLE)
+
+#ifndef GET_4TH_ARG
+#define GET_4TH_ARG(arg1, arg2, arg3, arg4, ...) arg4
+#endif
+
+#define REGISTER_ROS2_CONTROL_INTROSPECTION_MACRO_CHOOSER(...) \
+  GET_4TH_ARG(                                                 \
+    __VA_ARGS__, REGISTER_ROS2_CONTROL_INTROSPECTION_3_ARGS,   \
+    REGISTER_ROS2_CONTROL_INTROSPECTION_2_ARGS)
+
+#define REGISTER_ROS2_CONTROL_INTROSPECTION(...) \
+  REGISTER_ROS2_CONTROL_INTROSPECTION_MACRO_CHOOSER(__VA_ARGS__)(__VA_ARGS__)
+
 }  // namespace hardware_interface
 
 #endif  // HARDWARE_INTERFACE__INTROSPECTION_HPP_