diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 81792c9e7d..551c6d58a6 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -362,27 +362,42 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
   using lifecycle_msgs::msg::State;
 
   std::vector<std::string> configure_components_on_start = std::vector<std::string>({});
-  get_parameter("configure_components_on_start", configure_components_on_start);
-  rclcpp_lifecycle::State inactive_state(
-    State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE);
-  for (const auto & component : configure_components_on_start)
+  if (get_parameter("configure_components_on_start", configure_components_on_start))
   {
-    resource_manager_->set_component_state(component, inactive_state);
+    RCLCPP_WARN_STREAM(
+      get_logger(),
+      "[Deprecated]: Usage of parameter \"activate_components_on_start\" is deprecated. Use "
+      "hardware_spawner instead.");
+    rclcpp_lifecycle::State inactive_state(
+      State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE);
+    for (const auto & component : configure_components_on_start)
+    {
+      resource_manager_->set_component_state(component, inactive_state);
+    }
   }
 
   std::vector<std::string> activate_components_on_start = std::vector<std::string>({});
-  get_parameter("activate_components_on_start", activate_components_on_start);
-  rclcpp_lifecycle::State active_state(
-    State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
-  for (const auto & component : activate_components_on_start)
+  if (get_parameter("activate_components_on_start", activate_components_on_start))
   {
-    resource_manager_->set_component_state(component, active_state);
+    RCLCPP_WARN_STREAM(
+      get_logger(),
+      "[Deprecated]: Usage of parameter \"activate_components_on_start\" is deprecated. Use "
+      "hardware_spawner instead.");
+    rclcpp_lifecycle::State active_state(
+      State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
+    for (const auto & component : activate_components_on_start)
+    {
+      resource_manager_->set_component_state(component, active_state);
+    }
   }
-
   // if both parameter are empty or non-existing preserve behavior where all components are
   // activated per default
   if (configure_components_on_start.empty() && activate_components_on_start.empty())
   {
+    RCLCPP_WARN_STREAM(
+      get_logger(),
+      "[Deprecated]: Automatic activation of all hardware components will not be supported in the "
+      "future anymore. Use hardware_spawner instead.");
     resource_manager_->activate_all_components();
   }
 }