diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
index 70df98bfc04e013560d544c0100d7e184ef31680..2b32cecd364915bcf987d2d52a7bbb1f0a6471de 100644
--- a/nav2_amcl/src/amcl_node.cpp
+++ b/nav2_amcl/src/amcl_node.cpp
@@ -231,10 +231,6 @@ AmclNode::on_activate(const rclcpp_lifecycle::State & /*state*/)
 {
   RCLCPP_INFO(get_logger(), "Activating");
 
-  if (always_reset_initial_pose_) {
-    initial_pose_is_known_ = false;
-  }
-
   // Lifecycle publishers must be explicitly activated
   pose_pub_->on_activate();
   particlecloud_pub_->on_activate();
@@ -1044,6 +1040,10 @@ AmclNode::initParameters()
       " this isn't allowed so max_particles will be set to min_particles.");
     max_particles_ = min_particles_;
   }
+
+  if (always_reset_initial_pose_) {
+    initial_pose_is_known_ = false;
+  }
 }
 
 void