diff --git a/controller_interface/include/controller_interface/helpers.hpp b/controller_interface/include/controller_interface/helpers.hpp
index ffc1fc9b4f..f296b665d0 100644
--- a/controller_interface/include/controller_interface/helpers.hpp
+++ b/controller_interface/include/controller_interface/helpers.hpp
@@ -55,7 +55,9 @@ bool get_ordered_interfaces(
     throw std::range_error(
       "Capacity of ordered_interfaces (" + std::to_string(ordered_interfaces.capacity()) +
       ") has to be equal or higher as size of ordered_names (" +
-      std::to_string(ordered_names.size()) + ") for realtime reasons.");
+      std::to_string(ordered_names.size()) +
+      ") for realtime reasons. Please reserve sufficient space in the on_configure method to avoid "
+      "allocating memory in real-time loop.");
   }
   for (const auto & name : ordered_names)
   {