diff --git a/localization/pose2twist/src/pose2twist_core.cpp b/localization/pose2twist/src/pose2twist_core.cpp
index 00109ac37b9d9..9eeb5f359695d 100644
--- a/localization/pose2twist/src/pose2twist_core.cpp
+++ b/localization/pose2twist/src/pose2twist_core.cpp
@@ -28,13 +28,13 @@ Pose2Twist::Pose2Twist() : Node("pose2twist_core")
   rclcpp::QoS durable_qos(queue_size);
   durable_qos.transient_local();
 
-  pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
-    "pose", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1));
-
   twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", durable_qos);
   linear_x_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>("linear_x", durable_qos);
   angular_z_pub_ =
     create_publisher<tier4_debug_msgs::msg::Float32Stamped>("angular_z", durable_qos);
+  // Note: this callback publishes topics above
+  pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
+    "pose", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1));
 }
 
 double calcDiffForRadian(const double lhs_rad, const double rhs_rad)