diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
index 58eb6ac98f..c3d5d88f83 100644
--- a/controller_manager/src/ros2_control_node.cpp
+++ b/controller_manager/src/ros2_control_node.cpp
@@ -53,6 +53,12 @@ int main(int argc, char ** argv)
       RCLCPP_WARN(
         cm->get_logger(), "Unable to set the CPU affinity : '%s'", affinity_result.second.c_str());
     }
+
+  const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", true);
+  std::string message;
+  if (lock_memory && !realtime_tools::lock_memory(message))
+  {
+    RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str());
   }
 
   RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
diff --git a/doc/release_notes.rst b/doc/release_notes.rst
index a63a11c20b..86e6f5f3d3 100644
--- a/doc/release_notes.rst
+++ b/doc/release_notes.rst
@@ -17,9 +17,7 @@ controller_manager
 ******************
 
 * The ``ros2_control_node`` node now accepts the ``thread_priority`` parameter to set the scheduler priority of the controller_manager's RT thread (`#1820 <https://github.com/ros-controls/ros2_control/pull/1820>`_).
-<<<<<<< HEAD
 * Added support for the wildcard entries for the controller configuration files (`#1724 <https://github.com/ros-controls/ros2_control/pull/1724>`_).
-=======
 * The ``ros2_control_node`` node has a new ``lock_memory`` parameter to lock memory at startup to physical RAM in order to avoid page faults (`#1822 <https://github.com/ros-controls/ros2_control/pull/1822>`_).
 * The ``ros2_control_node`` node has a new ``cpu_affinity`` parameter to bind the process to a specific CPU core. By default, this is not enabled. (`#1852 <https://github.com/ros-controls/ros2_control/pull/1852>`_).
 
@@ -89,4 +87,4 @@ ros2controlcli
   .. code-block:: bash
 
     ros2 control <verb> <arguments> --ros-args -r __ns:=<namespace>
->>>>>>> 98f0795 ([ros2_control_node] Add option to set the CPU affinity  (#1852))
+