diff --git a/rclcpp/include/rclcpp/parameter_client.hpp b/rclcpp/include/rclcpp/parameter_client.hpp
index 77ae4d2..2cf09d8 100644
--- a/rclcpp/include/rclcpp/parameter_client.hpp
+++ b/rclcpp/include/rclcpp/parameter_client.hpp
@@ -271,7 +271,11 @@ public:
   {
     return get_parameter_impl(
       parameter_name,
-      std::function<T()>([]() -> T {throw std::runtime_error("Parameter not set");}));
+      std::function<T()>([&parameter_name]() -> T
+      {
+        throw std::runtime_error("Parameter '" + parameter_name + "' is not set");
+      })
+    );
   }
 
   RCLCPP_PUBLIC