diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 16c3db43a8..c43f75e9c0 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -222,6 +222,11 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 
+  double action_server_result_timeout;
+  get_parameter("action_server_result_timeout", action_server_result_timeout);
+  rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
+  server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
+
   // Create the action server that we implement with our followPath method
   // This may throw due to real-time prioritzation if user doesn't have real-time permissions
   try {