diff --git a/rtabmap_util/src/nodelets/disparity_to_depth.cpp b/rtabmap_util/src/nodelets/disparity_to_depth.cpp
index 7beb7c8b0..e7a11de5a 100644
--- a/rtabmap_util/src/nodelets/disparity_to_depth.cpp
+++ b/rtabmap_util/src/nodelets/disparity_to_depth.cpp
@@ -45,7 +45,7 @@ DisparityToDepth::DisparityToDepth(const rclcpp::NodeOptions & options) :
 	int qos = 0;
 	qos = this->declare_parameter("qos", qos);
 
-	auto node = rclcpp::Node::make_shared(this->get_name());
+	auto node = std::shared_ptr<DisparityToDepth>(this, [](auto *) {});
 	image_transport::ImageTransport it(node);
 	pub32f_ = image_transport::create_publisher(node.get(), "depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	pub16u_ = image_transport::create_publisher(node.get(), "depth_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
diff --git a/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp b/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp
index 30bf9ce32..95548bf9b 100644
--- a/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp
+++ b/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp
@@ -107,7 +107,7 @@ PointCloudToDepthImage::PointCloudToDepthImage(const rclcpp::NodeOptions & optio
 	RCLCPP_INFO(this->get_logger(), "  decimation=%d", decimation_);
 	RCLCPP_INFO(this->get_logger(), "  upscale=%s (upscale_depth_error_ratio=%f)", upscale_?"true":"false", upscaleDepthErrorRatio_);
 
-	auto node = rclcpp::Node::make_shared(this->get_name());
+	auto node = std::shared_ptr<PointCloudToDepthImage>(this, [](auto *) {});
 	image_transport::ImageTransport it(node);
 	depthImage16Pub_ = image_transport::create_camera_publisher(node.get(), "image_raw", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); // 16 bits unsigned in mm
 	depthImage32Pub_ = image_transport::create_camera_publisher(node.get(), "image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());// 32 bits float in meters
diff --git a/rtabmap_util/src/nodelets/rgbd_split.cpp b/rtabmap_util/src/nodelets/rgbd_split.cpp
index 9cae1eae5..80af31189 100644
--- a/rtabmap_util/src/nodelets/rgbd_split.cpp
+++ b/rtabmap_util/src/nodelets/rgbd_split.cpp
@@ -46,7 +46,7 @@ RGBDSplit::RGBDSplit(const rclcpp::NodeOptions & options) :
 
 	rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(5).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&RGBDSplit::callback, this, std::placeholders::_1));
 
-	auto node = rclcpp::Node::make_shared(this->get_name());
+	auto node = std::shared_ptr<RGBDSplit>(this, [](auto *) {});
 	image_transport::ImageTransport it(node);
 	rgbPub_ = image_transport::create_camera_publisher(node.get(), std::string(rgbdImageSub_->get_topic_name()) + "/rgb", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
 	depthPub_ = image_transport::create_camera_publisher(node.get(), std::string(rgbdImageSub_->get_topic_name()) + "/depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());