diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
index 92fa27a7be..2cdd22ffb1 100644
--- a/diff_drive_controller/src/diff_drive_controller.cpp
+++ b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -344,17 +344,32 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   const int nr_ref_itfs = 2;
   reference_interfaces_.resize(nr_ref_itfs, std::numeric_limits<double>::quiet_NaN());
 
-  limiter_linear_ = std::make_unique<SpeedLimiter>(
-    params_.linear.x.min_velocity, params_.linear.x.max_velocity,
-    params_.linear.x.max_acceleration_reverse, params_.linear.x.max_acceleration,
-    params_.linear.x.max_deceleration, params_.linear.x.max_deceleration_reverse,
-    params_.linear.x.min_jerk, params_.linear.x.max_jerk);
-
-  limiter_angular_ = std::make_unique<SpeedLimiter>(
-    params_.angular.z.min_velocity, params_.angular.z.max_velocity,
-    params_.angular.z.max_acceleration_reverse, params_.angular.z.max_acceleration,
-    params_.angular.z.max_deceleration, params_.angular.z.max_deceleration_reverse,
-    params_.angular.z.min_jerk, params_.angular.z.max_jerk);
+  try
+  {
+    limiter_linear_ = std::make_unique<SpeedLimiter>(
+      params_.linear.x.min_velocity, params_.linear.x.max_velocity,
+      params_.linear.x.max_acceleration_reverse, params_.linear.x.max_acceleration,
+      params_.linear.x.max_deceleration, params_.linear.x.max_deceleration_reverse,
+      params_.linear.x.min_jerk, params_.linear.x.max_jerk);
+  }
+  catch (const std::invalid_argument & e)
+  {
+    RCLCPP_ERROR(logger, "Failed to configure linear speed limiter: %s", e.what());
+    return controller_interface::CallbackReturn::ERROR;
+  }
+  try
+  {
+    limiter_angular_ = std::make_unique<SpeedLimiter>(
+      params_.angular.z.min_velocity, params_.angular.z.max_velocity,
+      params_.angular.z.max_acceleration_reverse, params_.angular.z.max_acceleration,
+      params_.angular.z.max_deceleration, params_.angular.z.max_deceleration_reverse,
+      params_.angular.z.min_jerk, params_.angular.z.max_jerk);
+  }
+  catch (const std::invalid_argument & e)
+  {
+    RCLCPP_ERROR(logger, "Failed to configure angular speed limiter: %s", e.what());
+    return controller_interface::CallbackReturn::ERROR;
+  }
 
   if (!reset())
   {