diff --git a/ign_ros2_control/src/ign_system.cpp b/ign_ros2_control/src/ign_system.cpp
index 6f8c8f65..30051024 100644
--- a/ign_ros2_control/src/ign_system.cpp
+++ b/ign_ros2_control/src/ign_system.cpp
@@ -182,8 +182,13 @@ bool IgnitionSystem::initSim(
 
   constexpr double default_gain = 0.1;
 
-  this->dataPtr->position_proportional_gain_ = this->nh_->declare_parameter<double>(
-    "position_proportional_gain", default_gain);
+  try {
+    this->dataPtr->position_proportional_gain_ = this->nh_->declare_parameter<double>(
+      "position_proportional_gain", default_gain);
+  }  catch (rclcpp::exceptions::ParameterAlreadyDeclaredException & ex) {
+    this->nh_->get_parameter(
+      "position_proportional_gain", this->dataPtr->position_proportional_gain_);
+  }
 
   RCLCPP_INFO_STREAM(
     this->nh_->get_logger(),