diff --git a/carma_cooperative_perception/src/multiple_object_tracker_component.cpp b/carma_cooperative_perception/src/multiple_object_tracker_component.cpp
index dde1d1500f..46d080ffaf 100644
--- a/carma_cooperative_perception/src/multiple_object_tracker_component.cpp
+++ b/carma_cooperative_perception/src/multiple_object_tracker_component.cpp
@@ -265,15 +265,6 @@ auto MultipleObjectTrackerNode::handle_on_configure(
       }
     });
 
-  declare_parameter(
-    "execution_frequency_hz", mot::remove_units(units::frequency::hertz_t{1 / execution_period_}));
-
-  declare_parameter(
-    "track_promotion_threshold", static_cast<int>(track_manager_.get_promotion_threshold().value));
-
-  declare_parameter(
-    "track_removal_threshold", static_cast<int>(track_manager_.get_promotion_threshold().value));
-
   on_set_parameters_callback_ =
     add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter> & parameters) {
       rcl_interfaces::msg::SetParametersResult result;
@@ -338,6 +329,15 @@ auto MultipleObjectTrackerNode::handle_on_configure(
       return result;
     });
 
+  declare_parameter(
+    "execution_frequency_hz", mot::remove_units(units::frequency::hertz_t{1 / execution_period_}));
+
+  declare_parameter(
+    "track_promotion_threshold", static_cast<int>(track_manager_.get_promotion_threshold().value));
+
+  declare_parameter(
+    "track_removal_threshold", static_cast<int>(track_manager_.get_promotion_threshold().value));
+
   RCLCPP_INFO(get_logger(), "Lifecycle transition: successfully configured");
 
   return carma_ros2_utils::CallbackReturn::SUCCESS;