diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
index 6ce483d1ff..2de57d3f83 100644
--- a/controller_interface/include/controller_interface/controller_interface_base.hpp
+++ b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -172,7 +172,14 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual rclcpp::NodeOptions define_custom_node_options() const
   {
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCLCPP_VERSION_MAJOR >= 21
     return rclcpp::NodeOptions().enable_logger_service(true);
+#else
+    return rclcpp::NodeOptions()
+      .allow_undeclared_parameters(true)
+      .automatically_declare_parameters_from_overrides(true);
+#endif
   }
 
   /// Declare and initialize a parameter with a type.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 0a295d7859..6b5077afe2 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -36,10 +36,24 @@ static constexpr const char * kChainableControllerInterfaceClassName =
   "controller_interface::ChainableControllerInterface";
 
 // Changed services history QoS to keep all so we don't lose any client service calls
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCLCPP_VERSION_MAJOR >= 17
 rclcpp::QoS qos_services =
   rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
     .reliable()
     .durability_volatile();
+#else
+static const rmw_qos_profile_t qos_services = {
+  RMW_QOS_POLICY_HISTORY_KEEP_ALL,
+  1,  // message queue depth
+  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+  RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
+  false};
+#endif
 
 inline bool is_controller_inactive(const controller_interface::ControllerInterfaceBase & controller)
 {