diff --git a/src/TopicPublisherROS2/generic_publisher.h b/src/TopicPublisherROS2/generic_publisher.h
index eb231cc..4e3cf57 100644
--- a/src/TopicPublisherROS2/generic_publisher.h
+++ b/src/TopicPublisherROS2/generic_publisher.h
@@ -30,7 +30,8 @@ class GenericPublisher : public rclcpp::PublisherBase
                    const rosidl_message_type_support_t& type_support)
   // The rclcpp::PublisherBase constructor grew event-callback parameters after Humble (rclcpp 16.x).
 #if RCLCPP_VERSION_GTE(17, 0, 0)
-    : rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options(), callbacks_, true)
+    : rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options(),
+                            rclcpp::PublisherEventCallbacks{}, true)
 #else
     : rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options())
 #endif
@@ -57,10 +58,6 @@ class GenericPublisher : public rclcpp::PublisherBase
 
     return std::make_shared<GenericPublisher>(node.get_node_base_interface().get(), topic_name, *type_support);
   }
-
-#if RCLCPP_VERSION_GTE(17, 0, 0)
-  rclcpp::PublisherEventCallbacks callbacks_;
-#endif
 };
 
 #endif  // GENERIC_PUBLISHER_H
diff --git a/src/TopicPublisherROS2/publisher_ros2.cpp b/src/TopicPublisherROS2/publisher_ros2.cpp
index 7126d2d..375536b 100644
--- a/src/TopicPublisherROS2/publisher_ros2.cpp
+++ b/src/TopicPublisherROS2/publisher_ros2.cpp
@@ -111,15 +111,6 @@ void TopicPublisherROS2::setEnabled(bool to_enable)
 
     updatePublishers();
 
-    if (!_tf_broadcaster)
-    {
-      _tf_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(*_node);
-    }
-    if (!_tf_static_broadcaster)
-    {
-      _tf_static_broadcaster = std::make_unique<tf2_ros::StaticTransformBroadcaster>(*_node);
-    }
-
     _previous_play_index = std::numeric_limits<int>::max();
   }
   else
@@ -293,10 +284,18 @@ void TopicPublisherROS2::broadcastTF(double current_time)
     }
     if (transforms_ptr == &transforms)
     {
+      if (!_tf_broadcaster)
+      {
+        _tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(*_node);
+      }
       _tf_broadcaster->sendTransform(transforms_vector);
     }
     else
     {
+      if (!_tf_static_broadcaster)
+      {
+        _tf_static_broadcaster = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*_node);
+      }
       _tf_static_broadcaster->sendTransform(transforms_vector);
     }
   }