diff --git a/include/rtabmap_ros/CoreWrapper.h b/include/rtabmap_ros/CoreWrapper.h
index 321c257a..be520325 100644
--- a/include/rtabmap_ros/CoreWrapper.h
+++ b/include/rtabmap_ros/CoreWrapper.h
@@ -233,6 +233,10 @@ private:
 	std::string groundTruthBaseFrameId_;
 	std::string configPath_;
 	std::string databasePath_;
+
+	double tfDelay;
+	double tfTolerance;
+
 	double odomDefaultAngVariance_;
 	double odomDefaultLinVariance_;
 	double landmarkDefaultAngVariance_;
diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index 57ba8455..c01adee3 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -138,8 +138,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
 	tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
 
 	bool publishTf = true;
-	double tfDelay = 0.05; // 20 Hz
-	double tfTolerance = 0.1; // 100 ms
+	tfDelay = 0.05; // 20 Hz
+	tfTolerance = 0.1; // 100 ms
 
 	configPath_ = this->declare_parameter("config_path", configPath_);
 	databasePath_ = this->declare_parameter("database_path", databasePath_);