diff --git a/include/ur_modern_driver/ros/service_stopper.h b/include/ur_modern_driver/ros/service_stopper.h
index f0b2c16..aec39a9 100644
--- a/include/ur_modern_driver/ros/service_stopper.h
+++ b/include/ur_modern_driver/ros/service_stopper.h
@@ -14,8 +14,8 @@ enum class RobotState
 
 enum class ActivationMode
 {
-  Always,
   Never,
+  Always,
   OnStartup
 };
 
diff --git a/launch/ur_common.launch b/launch/ur_common.launch
index 25aa71f..95c3198 100644
--- a/launch/ur_common.launch
+++ b/launch/ur_common.launch
@@ -17,7 +17,7 @@
   <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
 
   <!-- require_activation defines when the service /ur_driver/robot_enable needs to be called. -->
-  <arg name="require_activation" default="Always" /> <!-- Always, Never, OnStartup -->
+  <arg name="require_activation" default="Never" /> <!-- Never, Always, OnStartup -->
     
   <!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
   <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
diff --git a/src/ros/service_stopper.cpp b/src/ros/service_stopper.cpp
index 1d1a3e6..fcbf1a1 100644
--- a/src/ros/service_stopper.cpp
+++ b/src/ros/service_stopper.cpp
@@ -4,26 +4,29 @@ ServiceStopper::ServiceStopper(std::vector<Service*> services)
   : enable_service_(nh_.advertiseService("ur_driver/robot_enable", &ServiceStopper::enableCallback, this))
   , services_(services)
   , last_state_(RobotState::Error)
-  , activation_mode_(ActivationMode::Always)
+  , activation_mode_(ActivationMode::Never)
 {
   std::string mode;
-  ros::param::param("~require_activation", mode, std::string("Always"));
-  if (mode == "Never")
+  ros::param::param("~require_activation", mode, std::string("Never"));
+  if (mode == "Always")
   {
-    activation_mode_ = ActivationMode::Never;
-    notify_all(RobotState::Running);
+    activation_mode_ = ActivationMode::Always;
   }
   else if (mode == "OnStartup")
   {
     activation_mode_ = ActivationMode::OnStartup;
   }
-  else if (mode != "Always")
+  else
   {
-    LOG_WARN("Found invalid value for param service_stopper_mode: '%s'\nShould be one of Always, Never, OnStartup", mode.c_str());
-    mode = "Always";
+    if (mode != "Never")
+    {
+      LOG_WARN("Found invalid value for param require_activation: '%s'\nShould be one of Never, OnStartup, Always", mode.c_str());
+      mode = "Never";
+    }
+    notify_all(RobotState::Running);
   }
 
-  LOG_INFO("ActivationMode mode: %s", mode.c_str());
+  LOG_INFO("Service 'ur_driver/robot_enable' activation mode: %s", mode.c_str());
 }
 
 bool ServiceStopper::enableCallback(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& resp)