diff --git a/rclc/src/rclc/node.c b/rclc/src/rclc/node.c
index 283777ef..80c7587d 100644
--- a/rclc/src/rclc/node.c
+++ b/rclc/src/rclc/node.c
@@ -17,6 +17,8 @@
 #include "rclc/node.h"
 
 #include <rcl/error_handling.h>
+#include <rcl/logging.h>
+#include <rcl/logging_rosout.h>
 #include <rcutils/logging_macros.h>
 
 rcl_ret_t
@@ -79,6 +81,24 @@ rclc_node_init_with_options(
     node_ops);
   if (rc != RCL_RET_OK) {
     PRINT_RCLC_WARN(rclc_node_init_with_options, rcl_node_init);
+    return rc;
   }
+
+  // The initialization for the rosout publisher
+  if (rcl_logging_rosout_enabled() && node_ops->enable_rosout) {
+    rc = rcl_logging_rosout_init_publisher_for_node(node);
+    if (rc != RCL_RET_OK) {
+      PRINT_RCLC_WARN(
+        rclc_node_init_with_options,
+        rcl_logging_rosout_init_publisher_for_node);
+      if (rcl_logging_rosout_fini_publisher_for_node(node) != RCL_RET_OK) {
+        PRINT_RCLC_WARN(
+          rclc_node_init_with_options,
+          rcl_logging_rosout_fini_publisher_for_node);
+      }
+      return rc;
+    }
+  }
+
   return rc;
 }
diff --git a/rclc/test/rclc/test_executor.cpp b/rclc/test/rclc/test_executor.cpp
index 86346f49..961a6cca 100644
--- a/rclc/test/rclc/test_executor.cpp
+++ b/rclc/test/rclc/test_executor.cpp
@@ -21,6 +21,8 @@
 #include <thread>
 #include <vector>
 
+#include "rcl/logging.h"
+#include "rcl/logging_rosout.h"
 #include "rclc/executor.h"
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcutils/time.h"
@@ -545,6 +547,10 @@ class TestDefaultExecutor : public ::testing::Test
     rcl_node_options_t node_options = rcl_node_get_default_options();
     ret = rcl_node_init(&this->node, name, "", &this->context, &node_options);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    if (rcl_logging_rosout_enabled() && node_options.enable_rosout) {
+      ret = rcl_logging_rosout_init_publisher_for_node(&this->node);
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    }
     const rcl_node_options_t * node_ops = rcl_node_get_options(&this->node);
     this->allocator_ptr = &node_ops->allocator;
 
diff --git a/rclc_examples/src/example_executor_only_rcl.c b/rclc_examples/src/example_executor_only_rcl.c
index 3d1c7cf3..0bd78ff7 100644
--- a/rclc_examples/src/example_executor_only_rcl.c
+++ b/rclc_examples/src/example_executor_only_rcl.c
@@ -15,6 +15,8 @@
 
 #include <stdio.h>
 
+#include <rcl/logging.h>
+#include <rcl/logging_rosout.h>
 #include <rclc/executor.h>
 #include <std_msgs/msg/string.h>
 
@@ -83,6 +85,13 @@ int main(int argc, const char * argv[])
     printf("Error in rcl_node_init\n");
     return -1;
   }
+  if (rcl_logging_rosout_enabled() && node_ops.enable_rosout) {
+    rc = rcl_logging_rosout_init_publisher_for_node(&my_node);
+    if (rc != RCL_RET_OK) {
+      printf("Error in rcl_logging_rosout_init_publisher_for_node\n");
+      return -1;
+    }
+  }
 
   // create a publisher to publish topic 'topic_0' with type std_msg::msg::String
   // my_pub is global, so that the timer callback can access this publisher.
diff --git a/rclc_lifecycle/test/test_lifecycle.cpp b/rclc_lifecycle/test/test_lifecycle.cpp
index 2e006acd..b2d06826 100644
--- a/rclc_lifecycle/test/test_lifecycle.cpp
+++ b/rclc_lifecycle/test/test_lifecycle.cpp
@@ -23,6 +23,9 @@ extern "C"
 #include <lifecycle_msgs/msg/state.h>
 #include <lifecycle_msgs/msg/transition.h>
 
+#include <rcl/logging.h>
+#include <rcl/logging_rosout.h>
+
 #include "rclc_lifecycle/rclc_lifecycle.h"
 }
 
@@ -63,6 +66,9 @@ TEST(TestRclcLifecycle, lifecycle_node) {
   rcl_node_t my_node = rcl_get_zero_initialized_node();
   rcl_node_options_t node_ops = rcl_node_get_default_options();
   res += rcl_node_init(&my_node, "lifecycle_node", "rclc", &context, &node_ops);
+  if (rcl_logging_rosout_enabled() && node_ops.enable_rosout) {
+    res += rcl_logging_rosout_init_publisher_for_node(&my_node);
+  }
 
   rclc_lifecycle_node_t lifecycle_node;
   rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
@@ -100,6 +106,9 @@ TEST(TestRclcLifecycle, lifecycle_node_transitions) {
   rcl_node_t my_node = rcl_get_zero_initialized_node();
   rcl_node_options_t node_ops = rcl_node_get_default_options();
   res += rcl_node_init(&my_node, "lifecycle_node", "rclc", &context, &node_ops);
+  if (rcl_logging_rosout_enabled() && node_ops.enable_rosout) {
+    res += rcl_logging_rosout_init_publisher_for_node(&my_node);
+  }
 
   rclc_lifecycle_node_t lifecycle_node;
   rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
@@ -170,6 +179,9 @@ TEST(TestRclcLifecycle, lifecycle_node_callbacks) {
   rcl_node_t my_node = rcl_get_zero_initialized_node();
   rcl_node_options_t node_ops = rcl_node_get_default_options();
   res += rcl_node_init(&my_node, "lifecycle_node", "rclc", &context, &node_ops);
+  if (rcl_logging_rosout_enabled() && node_ops.enable_rosout) {
+    res += rcl_logging_rosout_init_publisher_for_node(&my_node);
+  }
 
   rclc_lifecycle_node_t lifecycle_node;
   rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
@@ -235,6 +247,9 @@ TEST(TestRclcLifecycle, lifecycle_node_servers) {
   rcl_node_t my_node = rcl_get_zero_initialized_node();
   rcl_node_options_t node_ops = rcl_node_get_default_options();
   res += rcl_node_init(&my_node, "lifecycle_node", "rclc", &context, &node_ops);
+  if (rcl_logging_rosout_enabled() && node_ops.enable_rosout) {
+    res += rcl_logging_rosout_init_publisher_for_node(&my_node);
+  }
 
   rclc_lifecycle_node_t lifecycle_node;
   rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();