diff --git a/control_toolbox/src/pid_ros.cpp b/control_toolbox/src/pid_ros.cpp
index 84dbeabd..2654b580 100644
--- a/control_toolbox/src/pid_ros.cpp
+++ b/control_toolbox/src/pid_ros.cpp
@@ -274,9 +274,18 @@ bool PidROS::initialize_from_ros_parameters()
   all_params_available &=
     get_double_param(param_prefix_ + "tracking_time_constant", tracking_time_constant);
 
+  bool saturation = std::isfinite(u_max) || std::isfinite(u_min);
+  get_boolean_param(param_prefix_ + "saturation", saturation);
+  if (!saturation)
+  {
+    u_max = UMAX_INFINITY;
+    u_min = -UMAX_INFINITY;
+  }
   get_boolean_param(param_prefix_ + "antiwindup", antiwindup);
   get_string_param(param_prefix_ + "antiwindup_strategy", antiwindup_strat_str);
   declare_param(param_prefix_ + "save_i_term", rclcpp::ParameterValue(false));
+  declare_param(
+    param_prefix_ + "activate_state_publisher", rclcpp::ParameterValue(rt_state_pub_ != nullptr));
 
   if (all_params_available)
   {
@@ -385,7 +394,9 @@ bool PidROS::initialize_from_args(
         rclcpp::ParameterValue(antiwindup_strat.tracking_time_constant));
       declare_param(
         param_prefix_ + "error_deadband", rclcpp::ParameterValue(antiwindup_strat.error_deadband));
-      declare_param(param_prefix_ + "saturation", rclcpp::ParameterValue(true));
+      declare_param(
+        param_prefix_ + "saturation",
+        rclcpp::ParameterValue(std::isfinite(gains.u_max_) || std::isfinite(gains.u_min_)));
       declare_param(
         param_prefix_ + "antiwindup_strategy",
         rclcpp::ParameterValue(gains.antiwindup_strat_.to_string()));
diff --git a/control_toolbox/test/pid_ros_parameters_tests.cpp b/control_toolbox/test/pid_ros_parameters_tests.cpp
index 127ad6ba..6c39f3f5 100644
--- a/control_toolbox/test/pid_ros_parameters_tests.cpp
+++ b/control_toolbox/test/pid_ros_parameters_tests.cpp
@@ -605,42 +605,50 @@ TEST(PidParametersTest, GetParametersTest)
 TEST(PidParametersTest, GetParametersFromParams)
 {
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("pid_parameters_test");
-
-  TestablePidROS pid(node, "", "", false);
+  const bool ACTIVATE_STATE_PUBLISHER = false;
+  TestablePidROS pid(node, "", "", ACTIVATE_STATE_PUBLISHER);
 
   ASSERT_FALSE(pid.initialize_from_ros_parameters());
 
   rclcpp::Parameter param_p;
   ASSERT_TRUE(node->get_parameter("p", param_p));
-  ASSERT_TRUE(std::isnan(param_p.get_value<double>()));
+  EXPECT_TRUE(std::isnan(param_p.get_value<double>()));
 
   rclcpp::Parameter param_i;
   ASSERT_TRUE(node->get_parameter("i", param_i));
-  ASSERT_TRUE(std::isnan(param_i.get_value<double>()));
+  EXPECT_TRUE(std::isnan(param_i.get_value<double>()));
 
   rclcpp::Parameter param_d;
   ASSERT_TRUE(node->get_parameter("d", param_d));
-  ASSERT_TRUE(std::isnan(param_d.get_value<double>()));
+  EXPECT_TRUE(std::isnan(param_d.get_value<double>()));
 
   rclcpp::Parameter param_i_clamp_max;
   ASSERT_TRUE(node->get_parameter("i_clamp_max", param_i_clamp_max));
-  ASSERT_TRUE(std::isnan(param_i_clamp_max.get_value<double>()));
+  EXPECT_TRUE(std::isnan(param_i_clamp_max.get_value<double>()));
 
   rclcpp::Parameter param_i_clamp_min;
   ASSERT_TRUE(node->get_parameter("i_clamp_min", param_i_clamp_min));
-  ASSERT_TRUE(std::isnan(param_i_clamp_min.get_value<double>()));
+  EXPECT_TRUE(std::isnan(param_i_clamp_min.get_value<double>()));
 
   rclcpp::Parameter param_u_clamp_max;
   ASSERT_TRUE(node->get_parameter("u_clamp_max", param_u_clamp_max));
-  ASSERT_TRUE(std::isinf(param_u_clamp_max.get_value<double>()));
+  EXPECT_TRUE(std::isinf(param_u_clamp_max.get_value<double>()));
 
   rclcpp::Parameter param_u_clamp_min;
   ASSERT_TRUE(node->get_parameter("u_clamp_min", param_u_clamp_min));
-  ASSERT_TRUE(std::isinf(param_u_clamp_min.get_value<double>()));
+  EXPECT_TRUE(std::isinf(param_u_clamp_min.get_value<double>()));
+
+  rclcpp::Parameter param_saturation;
+  ASSERT_TRUE(node->get_parameter("saturation", param_saturation));
+  EXPECT_FALSE(param_saturation.get_value<bool>());
 
   rclcpp::Parameter param_tracking_time_constant;
   ASSERT_TRUE(node->get_parameter("tracking_time_constant", param_tracking_time_constant));
-  ASSERT_TRUE(std::isnan(param_tracking_time_constant.get_value<double>()));
+  EXPECT_TRUE(std::isnan(param_tracking_time_constant.get_value<double>()));
+
+  rclcpp::Parameter param_activate_state_publisher;
+  ASSERT_TRUE(node->get_parameter("activate_state_publisher", param_activate_state_publisher));
+  EXPECT_EQ(param_activate_state_publisher.get_value<bool>(), ACTIVATE_STATE_PUBLISHER);
 }
 
 TEST(PidParametersTest, MultiplePidInstances)