diff --git a/rtabmap_slam/include/rtabmap_slam/CoreWrapper.h b/rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
index 901cc255..adb7b8e9 100644
--- a/rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+++ b/rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
@@ -245,6 +245,8 @@ private:
 	std::map<int, rtabmap::Transform> filterNodesToAssemble(
 			const std::map<int, rtabmap::Transform> & nodes,
 			const rtabmap::Transform & currentPose);
+	
+	void applyParameters();
 
 	void updateRtabmapCallback(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>);
 	void resetRtabmapCallback(const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>, std::shared_ptr<std_srvs::srv::Empty::Response>);
diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp
index 628aa6d4..6c302c22 100644
--- a/rtabmap_slam/src/CoreWrapper.cpp
+++ b/rtabmap_slam/src/CoreWrapper.cpp
@@ -964,17 +964,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
 							parameters_.at(key) = vStr;
 						}
 					}
-					RCLCPP_INFO(this->get_logger(), "rtabmap: Updating parameters");
-					if(parameters_.find(Parameters::kRtabmapDetectionRate()) != parameters_.end())
-					{
-						rate_ = uStr2Float(parameters_.at(Parameters::kRtabmapDetectionRate()));
-						RCLCPP_INFO(this->get_logger(), "RTAB-Map rate detection = %f Hz", rate_);
-					}
-					rtabmap_.parseParameters(parameters_);
-					// Don't reset map in localization mode
-					if(rtabmap_.getMemory()->isIncremental()) {
-						mapsManager_.setParameters(parameters_);
-					}
+					applyParameters();
 				}
 			};
 
@@ -3219,6 +3209,11 @@ void CoreWrapper::updateRtabmapCallback(
 			}
 		}
 	}
+	applyParameters();
+}
+
+void CoreWrapper::applyParameters()
+{
 	RCLCPP_INFO(get_logger(), "rtabmap: Updating parameters");
 	if(parameters_.find(Parameters::kRtabmapDetectionRate()) != parameters_.end())
 	{