diff --git a/rclcpp_lifecycle/test/test_lifecycle_node.cpp b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
index 713baca..dca1f50 100644
--- a/rclcpp_lifecycle/test/test_lifecycle_node.cpp
+++ b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
@@ -427,7 +427,8 @@ TEST_F(TestDefaultStateMachine, check_parameters) {
       return result;
     };
 
-  test_node->add_on_set_parameters_callback(callback);
+  // Hold callback handle. Callback is valid during the lifetime of this object.
+  auto callback_handle = test_node->add_on_set_parameters_callback(callback);
   rclcpp::Parameter bool_parameter(bool_name, rclcpp::ParameterValue(false));
   EXPECT_TRUE(test_node->set_parameter(bool_parameter).successful);
   EXPECT_EQ(parameters_set, 1u);