diff --git a/carma_cooperative_perception/include/carma_cooperative_perception/msg_conversion.hpp b/carma_cooperative_perception/include/carma_cooperative_perception/msg_conversion.hpp
index 038d8c1240..b4f5523183 100644
--- a/carma_cooperative_perception/include/carma_cooperative_perception/msg_conversion.hpp
+++ b/carma_cooperative_perception/include/carma_cooperative_perception/msg_conversion.hpp
@@ -72,11 +72,11 @@ auto to_detection_list_msg(const carma_v2x_msgs::msg::SensorDataSharingMessage &
 
 struct MotionModelMapping
 {
-  std::uint8_t small_vehicle_model;
-  std::uint8_t large_vehicle_model;
-  std::uint8_t motorcycle_model;
-  std::uint8_t pedestrian_model;
-  std::uint8_t unknown_model;
+  std::uint8_t small_vehicle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
+  std::uint8_t large_vehicle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
+  std::uint8_t motorcycle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRA};
+  std::uint8_t pedestrian_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV};
+  std::uint8_t unknown_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV};
 };
 
 auto to_detection_msg(
diff --git a/carma_cooperative_perception/src/external_object_list_to_detection_list_component.cpp b/carma_cooperative_perception/src/external_object_list_to_detection_list_component.cpp
index eec623d1d5..20bee22713 100644
--- a/carma_cooperative_perception/src/external_object_list_to_detection_list_component.cpp
+++ b/carma_cooperative_perception/src/external_object_list_to_detection_list_component.cpp
@@ -114,25 +114,11 @@ auto ExternalObjectListToDetectionListNode::handle_on_configure(
       }
     });
 
-  declare_parameter(
-    "small_vehicle_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV);
-
-  declare_parameter(
-    "large_vehicle_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV);
-
-  declare_parameter(
-    "motorcycle_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRA);
-
-  declare_parameter(
-    "pedestrian_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV);
-
-  declare_parameter(
-    "unknown_motion_model",
-    carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV);
+  declare_parameter("small_vehicle_motion_model", motion_model_mapping_.small_vehicle_model);
+  declare_parameter("large_vehicle_motion_model", motion_model_mapping_.large_vehicle_model);
+  declare_parameter("motorcycle_motion_model", motion_model_mapping_.motorcycle_model);
+  declare_parameter("pedestrian_motion_model", motion_model_mapping_.pedestrian_model);
+  declare_parameter("unknown_motion_model", motion_model_mapping_.unknown_model);
 
   on_set_parameters_callback_ =
     add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter> & parameters) {