diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
index f20b67d9d6e..6de4490bcf4 100644
--- a/nav2_costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -154,7 +154,7 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
     get_node_timers_interface(),
     callback_group_);
   tf_buffer_->setCreateTimerInterface(timer_interface);
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this);
 
   // Then load and add the plug-ins to the costmap
   for (unsigned int i = 0; i < plugin_names_.size(); ++i) {
diff --git a/nav2_map_server/src/vo_server/vector_object_server.cpp b/nav2_map_server/src/vo_server/vector_object_server.cpp
index 78f2439cffd..9fa047c23cf 100644
--- a/nav2_map_server/src/vo_server/vector_object_server.cpp
+++ b/nav2_map_server/src/vo_server/vector_object_server.cpp
@@ -48,7 +48,7 @@ VectorObjectServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
     this->get_node_base_interface(),
     this->get_node_timers_interface());
   tf_buffer_->setCreateTimerInterface(timer_interface);
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this);
 
   // Obtaining ROS parameters
   if (!obtainParams()) {