diff --git a/nav2_docking/opennav_docking/src/controller.cpp b/nav2_docking/opennav_docking/src/controller.cpp
index eb298a71eb..8613f2d27f 100644
--- a/nav2_docking/opennav_docking/src/controller.cpp
+++ b/nav2_docking/opennav_docking/src/controller.cpp
@@ -60,6 +60,7 @@ Controller::Controller(const rclcpp_lifecycle::LifecycleNode::SharedPtr & node)
 bool Controller::computeVelocityCommand(
   const geometry_msgs::msg::Pose & pose, geometry_msgs::msg::Twist & cmd, bool backward)
 {
+  std::lock_guard<std::mutex> lock(dynamic_params_lock_);
   cmd = control_law_->calculateRegularVelocity(pose, backward);
   return true;
 }