diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 1a10c7aa41..b6492cb4ef 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -333,6 +333,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   global_loc_srv_.reset();
   initial_guess_srv_.reset();
   nomotion_update_srv_.reset();
+  executor_thread_.reset();  //  to make sure initial_pose_sub_ completely exit
   initial_pose_sub_.reset();
   laser_scan_connection_.disconnect();
   tf_listener_.reset();  //  listener may access lase_scan_filter_, so it should be reset earlier