diff --git a/mavros/src/lib/mavros_uas.cpp b/mavros/src/lib/mavros_uas.cpp
index 9bd461412..81bc09caf 100644
--- a/mavros/src/lib/mavros_uas.cpp
+++ b/mavros/src/lib/mavros_uas.cpp
@@ -31,6 +31,8 @@ using plugin::Plugin;
 using plugin::PluginFactory;
 using utils::enum_value;
 
+static bool pattern_match(const std::string & pattern, const std::string & pl_name);
+
 UAS::UAS(
   const rclcpp::NodeOptions & options_,
   const std::string & name_,
@@ -154,7 +156,35 @@ UAS::UAS(
         plugin_denylist.emplace_back("*");
       }
 
-      for (auto & name : plugin_factory_loader.getDeclaredClasses()) {
+      const auto declared_plugins = plugin_factory_loader.getDeclaredClasses();
+      const auto warn_unmatched_plugin_patterns =
+      [this, &declared_plugins](
+        const StrV & patterns,
+        const std::string & parameter_name)
+      {
+        for (auto & pattern : patterns) {
+          bool matched = false;
+
+          for (auto & plugin : declared_plugins) {
+            if (pattern_match(pattern, plugin)) {
+              matched = true;
+              break;
+            }
+          }
+
+          if (!matched) {
+            RCLCPP_WARN(
+              get_logger(),
+              "%s pattern '%s' does not match any declared plugin",
+              parameter_name.c_str(), pattern.c_str());
+          }
+        }
+      };
+
+      warn_unmatched_plugin_patterns(plugin_allowlist, "plugin_allowlist");
+      warn_unmatched_plugin_patterns(plugin_denylist, "plugin_denylist");
+
+      for (auto & name : declared_plugins) {
         add_plugin(name);
       }