diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
index 50494fd856c..a2d997e267c 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -78,7 +78,7 @@ bool BtActionServer<ActionT>::on_configure()
   std::string client_node_name = action_name_;
   std::replace(client_node_name.begin(), client_node_name.end(), '/', '_');
   // Use suffix '_rclcpp_node' to keep parameter file consistency #1773
-  auto options = rclcpp::NodeOptions().arguments(
+  auto options = rclcpp::NodeOptions().allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(true).arguments(
     {"--ros-args",
       "-r",
       std::string("__node:=") +