diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
index 6ccd7b2e1d1..6d552fa189a 100644
--- a/controller_interface/include/controller_interface/controller_interface_base.hpp
+++ b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -158,6 +158,12 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   const std::string & get_robot_description() const;
 
+  /**
+   * Method used by the `init` method to instantiate the Lifecycle node of the controller upon
+   * loading the controller
+   *
+   * @returns NodeOptions required for the configuration of the controller lifecycle node
+   */
   CONTROLLER_INTERFACE_PUBLIC
   virtual rclcpp::NodeOptions get_node_options() const
   {