diff --git a/controller_manager/src/controller_manager_parameters.yaml b/controller_manager/src/controller_manager_parameters.yaml
index dd4bf1bc1b..1bb9b152b1 100644
--- a/controller_manager/src/controller_manager_parameters.yaml
+++ b/controller_manager/src/controller_manager_parameters.yaml
@@ -3,14 +3,14 @@ controller_manager:
     type: int,
     default_value: 100,
     read_only: true,
-    description: "The frequency of controller manager's real-time update loop. This loop reads states from hardware, updates controller and writes commands to hardware."
+    description: "The frequency of controller manager's real-time update loop. This loop reads states from hardware, updates controllers and writes commands to hardware."
   }
 
   hardware_components_initial_state:
     unconfigured: {
       type: string_array,
       default_value: [],
-      description: "Defines which hardware components will be only loaded immediately when controller manager is started.",
+      description: "Defines which hardware components will be only loaded when controller manager is started. These hardware components will need to be configured and activated manually or via a hardware spawner.",
       validation: {
         unique<>: null,
       }
@@ -19,7 +19,7 @@ controller_manager:
     inactive: {
       type: string_array,
       default_value: [],
-      description: "Defines which hardware components will be configured immediately when controller manager is started.",
+      description: "Defines which hardware components will be configured when controller manager is started. These hardware components will need to be activated manually or via a hardware spawner.",
       validation: {
         unique<>: null,
       }