diff --git a/cartographer_ros/cartographer_ros/node.cc b/cartographer_ros/cartographer_ros/node.cc
index 2de27da..3f5b45d 100644
--- a/cartographer_ros/cartographer_ros/node.cc
+++ b/cartographer_ros/cartographer_ros/node.cc
@@ -46,7 +46,6 @@ namespace carto = ::cartographer;
 using carto::transform::Rigid3d;
 
 constexpr int kLatestOnlyPublisherQueueSize = 1;
-constexpr double kTfBufferCacheTimeInSeconds = 1e6;
 
 // Default topic names; expected to be remapped as needed.
 constexpr char kOccupancyGridTopic[] = "map";
@@ -54,11 +53,9 @@ constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
 constexpr char kSubmapListTopic[] = "submap_list";
 constexpr char kSubmapQueryServiceName[] = "submap_query";
 
-Node::Node(const NodeOptions& options)
+Node::Node(const NodeOptions& options, tf2_ros::Buffer* const tf_buffer)
     : options_(options),
-      tf_buffer_(::ros::Duration(kTfBufferCacheTimeInSeconds)),
-      tf_(tf_buffer_),
-      map_builder_bridge_(options_, &tf_buffer_) {}
+      map_builder_bridge_(options_, tf_buffer) {}
 
 Node::~Node() {
   {
diff --git a/cartographer_ros/cartographer_ros/node.h b/cartographer_ros/cartographer_ros/node.h
index a291ed0..4788bb0 100644
--- a/cartographer_ros/cartographer_ros/node.h
+++ b/cartographer_ros/cartographer_ros/node.h
@@ -30,14 +30,13 @@
 #include "cartographer_ros_msgs/TrajectorySubmapList.h"
 #include "ros/ros.h"
 #include "tf2_ros/transform_broadcaster.h"
-#include "tf2_ros/transform_listener.h"
 
 namespace cartographer_ros {
 
 // Wires up ROS topics to SLAM.
 class Node {
  public:
-  Node(const NodeOptions& options);
+  Node(const NodeOptions& options, tf2_ros::Buffer* tf_buffer);
   ~Node();
 
   Node(const Node&) = delete;
@@ -60,8 +59,6 @@ class Node {
 
   const NodeOptions options_;
 
-  tf2_ros::Buffer tf_buffer_;
-  tf2_ros::TransformListener tf_;
   tf2_ros::TransformBroadcaster tf_broadcaster_;
 
   cartographer::common::Mutex mutex_;
diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index d1ee92f..8b72818 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -23,6 +23,7 @@
 #include "cartographer/common/port.h"
 #include "cartographer_ros/node.h"
 #include "cartographer_ros/ros_log_sink.h"
+#include "tf2_ros/transform_listener.h"
 
 DEFINE_string(configuration_directory, "",
               "First directory in which configuration files are searched, "
@@ -55,7 +56,10 @@ void Run() {
       code, std::move(file_resolver));
 
   const auto options = CreateNodeOptions(&lua_parameter_dictionary);
-  Node node(options);
+  constexpr double kTfBufferCacheTimeInSeconds = 1e6;
+  tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
+  tf2_ros::TransformListener tf(tf_buffer);
+  Node node(options, &tf_buffer);
 
   int trajectory_id = -1;
   std::unordered_set<string> expected_sensor_ids;