diff --git a/nav2_costmap_2d/plugins/inflation_layer.cpp b/nav2_costmap_2d/plugins/inflation_layer.cpp
index 999d5d9481b..e91392de5bb 100644
--- a/nav2_costmap_2d/plugins/inflation_layer.cpp
+++ b/nav2_costmap_2d/plugins/inflation_layer.cpp
@@ -78,7 +78,8 @@ InflationLayer::InflationLayer()
 
 InflationLayer::~InflationLayer()
 {
-  node_.lock()->remove_on_set_parameters_callback(dyn_params_handler_.get());
+  auto node = node_.lock();
+  node->remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
   delete access_;
 }
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index 38a6258e309..4e0001b66b5 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -62,7 +62,8 @@ namespace nav2_costmap_2d
 
 ObstacleLayer::~ObstacleLayer()
 {
-  node_.lock()->remove_on_set_parameters_callback(dyn_params_handler_.get());
+  auto node = node_.lock();
+  node->remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
   for (auto & notifier : observation_notifiers_) {
     notifier.reset();
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
index ef011eaf65c..c6d74dcd0f8 100644
--- a/nav2_costmap_2d/plugins/static_layer.cpp
+++ b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -112,7 +112,8 @@ StaticLayer::activate()
 void
 StaticLayer::deactivate()
 {
-  node_.lock()->remove_on_set_parameters_callback(dyn_params_handler_.get());
+  auto node = node_.lock();
+  node->remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
 }
 
diff --git a/nav2_costmap_2d/plugins/voxel_layer.cpp b/nav2_costmap_2d/plugins/voxel_layer.cpp
index a99466e6339..139d524ba8e 100644
--- a/nav2_costmap_2d/plugins/voxel_layer.cpp
+++ b/nav2_costmap_2d/plugins/voxel_layer.cpp
@@ -116,7 +116,8 @@ void VoxelLayer::onInitialize()
 
 VoxelLayer::~VoxelLayer()
 {
-  node_.lock()->remove_on_set_parameters_callback(dyn_params_handler_.get());
+  auto node = node_.lock();
+  node->remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
 }
 
diff --git a/nav2_mppi_controller/src/parameters_handler.cpp b/nav2_mppi_controller/src/parameters_handler.cpp
index c6fe7d85514..fd8680d0794 100644
--- a/nav2_mppi_controller/src/parameters_handler.cpp
+++ b/nav2_mppi_controller/src/parameters_handler.cpp
@@ -28,7 +28,8 @@ ParametersHandler::ParametersHandler(
 
 ParametersHandler::~ParametersHandler()
 {
-  node_.lock()->remove_on_set_parameters_callback(on_set_param_handler_.get());
+  auto node = node_.lock();
+  node->remove_on_set_parameters_callback(on_set_param_handler_.get());
   on_set_param_handler_.reset();
 }
 
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
index b302552e7a1..db45cd0fe5d 100644
--- a/nav2_navfn_planner/src/navfn_planner.cpp
+++ b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -115,7 +115,8 @@ NavfnPlanner::deactivate()
   RCLCPP_INFO(
     logger_, "Deactivating plugin %s of type NavfnPlanner",
     name_.c_str());
-  node_.lock()->remove_on_set_parameters_callback(dyn_params_handler_.get());
+  auto node = node_.lock();
+  node->remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
 }
 
diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
index 0489a672557..fc4b17d0544 100644
--- a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
+++ b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -124,7 +124,8 @@ void RotationShimController::deactivate()
 
   primary_controller_->deactivate();
 
-  node_.lock()->remove_on_set_parameters_callback(dyn_params_handler_.get());
+  auto node = node_.lock();
+  node->remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
 }
 
diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp
index ee51bb813cb..bbdb1afe7c6 100644
--- a/nav2_smac_planner/src/smac_planner_2d.cpp
+++ b/nav2_smac_planner/src/smac_planner_2d.cpp
@@ -177,7 +177,8 @@ void SmacPlanner2D::deactivate()
   if (_costmap_downsampler) {
     _costmap_downsampler->on_deactivate();
   }
-  _node.lock()->remove_on_set_parameters_callback(_dyn_params_handler.get());
+  auto node = _node.lock();
+  node->remove_on_set_parameters_callback(_dyn_params_handler.get());
   _dyn_params_handler.reset();
 }
 
diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
index 88ae63d4659..8dcd7204a5c 100644
--- a/nav2_smac_planner/src/smac_planner_hybrid.cpp
+++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -311,7 +311,8 @@ void SmacPlannerHybrid::deactivate()
   if (_costmap_downsampler) {
     _costmap_downsampler->on_deactivate();
   }
-  _node.lock()->remove_on_set_parameters_callback(_dyn_params_handler.get());
+  auto node=_node.lock();
+  node->remove_on_set_parameters_callback(_dyn_params_handler.get());
   _dyn_params_handler.reset();
 }
 
diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp
index 212e071f242..3e469874d20 100644
--- a/nav2_smac_planner/src/smac_planner_lattice.cpp
+++ b/nav2_smac_planner/src/smac_planner_lattice.cpp
@@ -250,7 +250,8 @@ void SmacPlannerLattice::deactivate()
     _expansions_publisher->on_deactivate();
     _planned_footprints_publisher->on_deactivate();
   }
-  _node.lock()->remove_on_set_parameters_callback(_dyn_params_handler.get());
+  auto node=_node.lock();
+  node->remove_on_set_parameters_callback(_dyn_params_handler.get());
   _dyn_params_handler.reset();
 }
 
diff --git a/nav2_theta_star_planner/src/theta_star_planner.cpp b/nav2_theta_star_planner/src/theta_star_planner.cpp
index c10cda5348e..1e4458877d8 100644
--- a/nav2_theta_star_planner/src/theta_star_planner.cpp
+++ b/nav2_theta_star_planner/src/theta_star_planner.cpp
@@ -86,7 +86,8 @@ void ThetaStarPlanner::activate()
 void ThetaStarPlanner::deactivate()
 {
   RCLCPP_INFO(logger_, "Deactivating plugin %s of type nav2_theta_star_planner", name_.c_str());
-  parent_node_.lock()->remove_on_set_parameters_callback(dyn_params_handler_.get());
+  auto node = parent_node_.lock();
+  node->remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
 }