diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index fc3503d5bb0..200f84a27bc 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -310,6 +310,10 @@ ControllerManager::ControllerManager(
   {
     subscribe_to_robot_description_topic();
   }
+  else
+  {
+    init_services();
+  }
 }
 
 void ControllerManager::subscribe_to_robot_description_topic()