diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 226c01348d5..87b95592234 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -335,6 +335,7 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   laser_scan_sub_.reset();
 
   // Map
+  map_sub_.reset();  //  map_sub_ may access map_, so it should be reset earlier
   if (map_ != NULL) {
     map_free(map_);
     map_ = nullptr;