diff --git a/src/sas_robot_driver_ros.cpp b/src/sas_robot_driver_ros.cpp
index 497cda9..19aa2a7 100644
--- a/src/sas_robot_driver_ros.cpp
+++ b/src/sas_robot_driver_ros.cpp
@@ -162,6 +162,17 @@ int RobotDriverROS::control_loop()
             }
 
 
+            // Execute the control loop callback if one has been set
+            if (robot_driver_->control_loop_callback_is_set()) {
+                RCLCPP_INFO_STREAM_ONCE(node_->get_logger(), "::Control loop callback is set and will be executed!");
+                try {
+                    robot_driver_->execute_control_loop_callback();
+                } catch (const std::exception& e) {
+                    throw std::runtime_error("Control loop callback execution failed: " + std::string(e.what()));
+                }
+            }
+
+
             auto joint_positions{robot_driver_->get_joint_positions()};
             VectorXd joint_velocities;
             try{joint_velocities = robot_driver_->get_joint_velocities();} catch(...){}