diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 16ab416fef..a56b79a0b4 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -234,12 +234,12 @@ AmclNode::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
   initParameters();
   initTransforms();
+  initParticleFilter();
+  initLaserScan();
   initMessageFilters();
   initPubSub();
   initServices();
   initOdometry();
-  initParticleFilter();
-  initLaserScan();
 
   return nav2_util::CallbackReturn::SUCCESS;
 }