diff --git a/Source/rclUE/Public/ROS2ActionClient.h b/Source/rclUE/Public/ROS2ActionClient.h
index 5262a2b9..a69d7d38 100644
--- a/Source/rclUE/Public/ROS2ActionClient.h
+++ b/Source/rclUE/Public/ROS2ActionClient.h
@@ -186,7 +186,8 @@ class RCLUE_API UROS2ActionClientComponent : public UActorComponent
     FActionCallback FeedbackDelegate;
     FSimpleCallback CancelResponseDelegate;
 
-    virtual void BeginPlay() override
+    UFUNCTION(BlueprintCallable)
+    virtual void DefaultCreateActionClient()
     {
         if (ActionClient == nullptr)
         {
@@ -202,6 +203,11 @@ class RCLUE_API UROS2ActionClientComponent : public UActorComponent
                                                                  FeedbackQoS,
                                                                  CancelQoS);
         }
+    }
+
+    virtual void BeginPlay() override
+    {
+        DefaultCreateActionClient();
         Super::BeginPlay();
     };
 };
diff --git a/Source/rclUE/Public/ROS2ActionServer.h b/Source/rclUE/Public/ROS2ActionServer.h
index f832d28d..b352ada1 100644
--- a/Source/rclUE/Public/ROS2ActionServer.h
+++ b/Source/rclUE/Public/ROS2ActionServer.h
@@ -156,7 +156,8 @@ class RCLUE_API UROS2ActionServerComponent : public UActorComponent
     FSimpleCallback ResultDelegate;
     FSimpleCallback CancelDelegate;
 
-    virtual void BeginPlay() override
+    UFUNCTION(BlueprintCallable)
+    virtual void DefaultCreateActionServer()
     {
         if (ActionServer == nullptr)
         {
@@ -171,6 +172,11 @@ class RCLUE_API UROS2ActionServerComponent : public UActorComponent
                                                                  FeedbackQoS,
                                                                  CancelQoS);
         }
+    }
+
+    virtual void BeginPlay() override
+    {
+        DefaultCreateActionServer();
         Super::BeginPlay();
     };
 };
diff --git a/Source/rclUE/Public/ROS2Publisher.h b/Source/rclUE/Public/ROS2Publisher.h
index 8f4f1ebb..291db6b7 100644
--- a/Source/rclUE/Public/ROS2Publisher.h
+++ b/Source/rclUE/Public/ROS2Publisher.h
@@ -304,16 +304,17 @@ class RCLUE_API UROS2CustomPublisherComponent : public UActorComponent
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     float PublicationFrequencyHz = 1.f;
 
-    virtual void BeginPlay() override
+    UFUNCTION(BlueprintCallable)
+    virtual void DefaultCreatePublisher()
     {
         if (Publisher == nullptr)
         {
             Publisher = UROS2Publisher::CreateLoopPublisherWithClass(this, TopicName, PublisherClass, PublicationFrequencyHz);
         }
-        else
-        {
-            UE_LOG_WITH_INFO(LogTemp, Warning, TEXT("Publisher class is not created in BeginPlay."));
-        }
+    }
+    virtual void BeginPlay() override
+    {
+        DefaultCreatePublisher();
         Super::BeginPlay();
     };
 };
diff --git a/Source/rclUE/Public/ROS2ServiceClient.h b/Source/rclUE/Public/ROS2ServiceClient.h
index 819bd9e4..363ab63a 100644
--- a/Source/rclUE/Public/ROS2ServiceClient.h
+++ b/Source/rclUE/Public/ROS2ServiceClient.h
@@ -162,12 +162,17 @@ class RCLUE_API UROS2ServiceClientComponent : public UActorComponent
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     FServiceCallback ResponseDelegate;
 
-    virtual void BeginPlay() override
+    UFUNCTION(BlueprintCallable)
+    virtual void DefaultCreateServiceClient()
     {
         if (ServiceClient == nullptr)
         {
             ServiceClient = UROS2ServiceClient::CreateServiceClient(this, ServiceName, SrvClass, ResponseDelegate, QoS);
         }
+    }
+    virtual void BeginPlay() override
+    {
+        DefaultCreateServiceClient();
         Super::BeginPlay();
     };
 };
diff --git a/Source/rclUE/Public/ROS2ServiceServer.h b/Source/rclUE/Public/ROS2ServiceServer.h
index ddf9ef8f..b7308773 100644
--- a/Source/rclUE/Public/ROS2ServiceServer.h
+++ b/Source/rclUE/Public/ROS2ServiceServer.h
@@ -113,12 +113,17 @@ class RCLUE_API UROS2ServiceServerComponent : public UActorComponent
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     FServiceCallback SrvCallback;
 
-    virtual void BeginPlay() override
+    UFUNCTION(BlueprintCallable)
+    virtual void DefaultCreateServiceServer()
     {
         if (ServiceServer == nullptr)
         {
             ServiceServer = UROS2ServiceServer::CreateServiceServer(this, ServiceName, SrvClass, SrvCallback, QoS);
         }
+    }
+    virtual void BeginPlay() override
+    {
+        DefaultCreateServiceServer();
         Super::BeginPlay();
     };
 };
diff --git a/Source/rclUE/Public/ROS2Subscriber.h b/Source/rclUE/Public/ROS2Subscriber.h
index 8e929d73..cc4785bd 100644
--- a/Source/rclUE/Public/ROS2Subscriber.h
+++ b/Source/rclUE/Public/ROS2Subscriber.h
@@ -101,12 +101,18 @@ class RCLUE_API UROS2SubscriberComponent : public UActorComponent
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     FSubscriptionCallback Callback;
 
-    virtual void BeginPlay() override
+    UFUNCTION(BlueprintCallable)
+    virtual void DefaultCreateSubscriber()
     {
         if (Subscriber == nullptr)
         {
             Subscriber = UROS2Subscriber::CreateSubscriber(this, TopicName, MsgClass, Callback, QoS);
         }
+    }
+
+    virtual void BeginPlay() override
+    {
+        DefaultCreateSubscriber();
         Super::BeginPlay();
     };
 };