diff --git a/launch_ros/launch_ros/actions/lifecycle_node.py b/launch_ros/launch_ros/actions/lifecycle_node.py
index 79bca627..d5c9ad89 100644
--- a/launch_ros/launch_ros/actions/lifecycle_node.py
+++ b/launch_ros/launch_ros/actions/lifecycle_node.py
@@ -107,11 +107,8 @@ def execute(self, context: launch.LaunchContext) -> Optional[List[Action]]:
             autostart_actions = [
                 LifecycleTransition(
                     lifecycle_node_names=[self.node_name],
-                    transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE]
-                ),
-                LifecycleTransition(
-                    lifecycle_node_names=[self.node_name],
-                    transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE]
+                    transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
+                                    lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE]
                 ),
             ]
 
diff --git a/launch_ros/launch_ros/actions/load_composable_nodes.py b/launch_ros/launch_ros/actions/load_composable_nodes.py
index ba4f6e21..e16e3928 100644
--- a/launch_ros/launch_ros/actions/load_composable_nodes.py
+++ b/launch_ros/launch_ros/actions/load_composable_nodes.py
@@ -251,14 +251,9 @@ def execute(
                 autostart_actions.append(
                     LifecycleTransition(
                         lifecycle_node_names=[complete_node_name],
-                        transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE]
+                        transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
+                                        lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE]
                     ))
-                autostart_actions.append(
-                    LifecycleTransition(
-                        lifecycle_node_names=[complete_node_name],
-                        transition_ids=[lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE]
-                    ),
-                )
 
         if load_node_requests:
             context.add_completion_future(