diff --git a/doc/migration.rst b/doc/migration.rst
index f264e650ef..72de6cabb0 100644
--- a/doc/migration.rst
+++ b/doc/migration.rst
@@ -17,3 +17,4 @@ pid_controller
 * Parameters ``enable_feedforward`` and service ``set_feedforward_control`` are removed. Instead, set the feedforward_gain to zero or a non-zero value. (`#1553 <https://github.com/ros-controls/ros2_controllers/pull/1553>`_).
 * The legacy ``antiwindup`` boolean and integral clamp parameters ``i_clamp_max``/``i_clamp_min`` have
   been deprecated in favor of the new ``antiwindup_strategy`` parameter (`#1585 <https://github.com/ros-controls/ros2_controllers/pull/1585>`__). Choose a suitable anti-windup strategy and set the parameters accordingly.
+* PID state publisher topic changed to ``<controller_name>`` namespace and is initially turned off. It can be turned on by using  ``activate_state_publisher`` parameter. (`#1823 <https://github.com/ros-controls/ros2_controllers/pull/1823>`_).
diff --git a/doc/release_notes.rst b/doc/release_notes.rst
index cc4a2bd5d4..87bf9f3eef 100644
--- a/doc/release_notes.rst
+++ b/doc/release_notes.rst
@@ -22,3 +22,4 @@ pid_controller
   * Output clamping via ``u_clamp_max`` and ``u_clamp_min`` was added, allowing users to bound the controller output.
   * The legacy ``antiwindup`` boolean and integral clamp parameters ``i_clamp_max``/``i_clamp_min`` have been deprecated in favor of the new ``antiwindup_strategy`` parameter. A ``tracking_time_constant`` parameter has also been introduced to configure the back-calculation strategy.
   * A new ``error_deadband`` parameter stops integration when the error is within a specified range.
+* PID state publisher can be turned off or on by using  ``activate_state_publisher`` parameter. (`#1823 <https://github.com/ros-controls/ros2_controllers/pull/1823>`_).
diff --git a/pid_controller/doc/userdoc.rst b/pid_controller/doc/userdoc.rst
index a643905aea..a479366ae4 100644
--- a/pid_controller/doc/userdoc.rst
+++ b/pid_controller/doc/userdoc.rst
@@ -72,6 +72,9 @@ If controller parameter ``use_external_measured_states`` is true:
 Publishers
 ,,,,,,,,,,,
 - <controller_name>/controller_state  [control_msgs/msg/MultiDOFStateStamped]
+- <controller_name>/<dof>/pid_state  [control_msgs/msg/PidState]
+
+Initially the PidState publisher is turned off. It can be turned on by using  ``gains.<dof>.activate_state_publisher`` parameter.
 
 Parameters
 ,,,,,,,,,,,
diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp
index d8caac42c1..25cc136ab1 100644
--- a/pid_controller/src/pid_controller.cpp
+++ b/pid_controller/src/pid_controller.cpp
@@ -126,9 +126,8 @@ controller_interface::CallbackReturn PidController::configure_parameters()
 
   for (size_t i = 0; i < dof_; ++i)
   {
-    // prefix should be interpreted as parameters prefix
-    pids_[i] =
-      std::make_shared<control_toolbox::PidROS>(get_node(), "gains." + params_.dof_names[i], true);
+    pids_[i] = std::make_shared<control_toolbox::PidROS>(
+      get_node(), "gains." + params_.dof_names[i], "~/" + params_.dof_names[i], false);
     if (!pids_[i]->initialize_from_ros_parameters())
     {
       return CallbackReturn::FAILURE;
diff --git a/pid_controller/src/pid_controller.yaml b/pid_controller/src/pid_controller.yaml
index 7ea8ec25b0..947bb7e9df 100644
--- a/pid_controller/src/pid_controller.yaml
+++ b/pid_controller/src/pid_controller.yaml
@@ -130,3 +130,8 @@ pid_controller:
         default_value: true,
         description: "Indicating if integral term is retained after re-activation"
       }
+      activate_state_publisher: {
+        type: bool,
+        default_value: false,
+        description: "Individual state publisher activation for each DOF. If true, the controller will publish the state of each DOF to the topic `/<controller_name>/<dof_name>/pid_state`."
+      }