diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 764a8f059f..398dca7174 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -1367,6 +1367,7 @@ AmclNode::dynamicParametersCallback(
     lasers_update_.clear();
     frame_to_laser_.clear();
     laser_scan_connection_.disconnect();
+    laser_scan_filter_.reset();
     laser_scan_sub_.reset();
 
     initMessageFilters();