diff --git a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
index 169ee00d3f..8cbd97c93f 100644
--- a/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
+++ b/moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_manager/trajectory_execution_manager.h
@@ -81,14 +81,12 @@ class TrajectoryExecutionManager
   };
 
   /// Load the controller manager plugin, start listening for events on a topic.
-  TrajectoryExecutionManager(const robot_model::RobotModelConstPtr& robot_model,
-                             const planning_scene_monitor::CurrentStateMonitorPtr& csm,
-                             const rclcpp::Node::SharedPtr& node);
+  TrajectoryExecutionManager(const rclcpp::Node::SharedPtr& node, const robot_model::RobotModelConstPtr& robot_model,
+                             const planning_scene_monitor::CurrentStateMonitorPtr& csm);
 
   /// Load the controller manager plugin, start listening for events on a topic.
-  TrajectoryExecutionManager(const robot_model::RobotModelConstPtr& robot_model,
-                             const planning_scene_monitor::CurrentStateMonitorPtr& csm, bool manage_controllers,
-                             const rclcpp::Node::SharedPtr& node);
+  TrajectoryExecutionManager(const rclcpp::Node::SharedPtr& node, const robot_model::RobotModelConstPtr& robot_model,
+                             const planning_scene_monitor::CurrentStateMonitorPtr& csm, bool manage_controllers);
 
   /// Destructor. Cancels all running trajectories (if any)
   ~TrajectoryExecutionManager();
@@ -307,9 +305,9 @@ class TrajectoryExecutionManager
   // Name of this class for logging
   const std::string name_ = "trajectory_execution_manager";
 
+  rclcpp::Node::SharedPtr node_;
   robot_model::RobotModelConstPtr robot_model_;
   planning_scene_monitor::CurrentStateMonitorPtr csm_;
-  rclcpp::Node::SharedPtr node_;
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr event_topic_subscriber_;
   std::map<std::string, ControllerInformation> known_controllers_;
   bool manage_controllers_;
@@ -322,6 +320,7 @@ class TrajectoryExecutionManager
 
   boost::mutex execution_state_mutex_;
   boost::mutex continuous_execution_mutex_;
+  boost::mutex execution_thread_mutex_;
 
   boost::condition_variable continuous_execution_condition_;
 
diff --git a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
index 74e868c5a8..0467047817 100644
--- a/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
+++ b/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
@@ -82,20 +82,21 @@ class TrajectoryExecutionManager::DynamicReconfigureImpl
   // dynamic_reconfigure::Server<TrajectoryExecutionDynamicReconfigureConfig> dynamic_reconfigure_server_;
 };
 
-TrajectoryExecutionManager::TrajectoryExecutionManager(const robot_model::RobotModelConstPtr& robot_model,
-                                                       const planning_scene_monitor::CurrentStateMonitorPtr& csm,
-                                                       const rclcpp::Node::SharedPtr& node)
-  : robot_model_(robot_model), csm_(csm), node_(node)
+TrajectoryExecutionManager::TrajectoryExecutionManager(const rclcpp::Node::SharedPtr& node,
+                                                       const robot_model::RobotModelConstPtr& robot_model,
+                                                       const planning_scene_monitor::CurrentStateMonitorPtr& csm)
+  : node_(node), robot_model_(robot_model), csm_(csm)
 {
   if (!node_->get_parameter("moveit_manage_controllers", manage_controllers_))
     manage_controllers_ = false;
   initialize();
 }
 
-TrajectoryExecutionManager::TrajectoryExecutionManager(const robot_model::RobotModelConstPtr& robot_model,
+TrajectoryExecutionManager::TrajectoryExecutionManager(const rclcpp::Node::SharedPtr& node,
+                                                       const robot_model::RobotModelConstPtr& robot_model,
                                                        const planning_scene_monitor::CurrentStateMonitorPtr& csm,
-                                                       bool manage_controllers, const rclcpp::Node::SharedPtr& node)
-  : robot_model_(robot_model), csm_(csm), node_(node), manage_controllers_(manage_controllers)
+                                                       bool manage_controllers)
+  : node_(node), robot_model_(robot_model), csm_(csm), manage_controllers_(manage_controllers)
 {
   initialize();
 }