diff --git a/clients/roscpp/src/libros/callback_queue.cpp b/clients/roscpp/src/libros/callback_queue.cpp
index aed7c16283..813d0d7c00 100644
--- a/clients/roscpp/src/libros/callback_queue.cpp
+++ b/clients/roscpp/src/libros/callback_queue.cpp
@@ -359,8 +359,12 @@ CallbackQueue::CallOneResult CallbackQueue::callOneCB(TLS* tls)
   ROS_ASSERT(!tls->callbacks.empty());
   ROS_ASSERT(tls->cb_it != tls->callbacks.end());
 
-  CallbackInfo info = *tls->cb_it;
-  CallbackInterfacePtr& cb = info.callback;
+  // Alias the CallbackInfo object via reference (rather than copying it)
+  CallbackInfo& info = *tls->cb_it;
+  // Increment the reference count of the shared pointer of the
+  // CallbackInterface to make sure it is not destroyed while we wait for
+  // the mutex lock.
+  CallbackInterfacePtr cb = info.callback;
 
   IDInfoPtr id_info = getIDInfo(info.removal_id);
   if (id_info)