diff --git a/nebula_ros/src/continental/continental_srr520_decoder_wrapper.cpp b/nebula_ros/src/continental/continental_srr520_decoder_wrapper.cpp
index 89dcb8142..0d271fc7c 100644
--- a/nebula_ros/src/continental/continental_srr520_decoder_wrapper.cpp
+++ b/nebula_ros/src/continental/continental_srr520_decoder_wrapper.cpp
@@ -418,6 +418,12 @@ radar_msgs::msg::RadarTracks ContinentalSRR520DecoderWrapper::convert_to_radar_t
 visualization_msgs::msg::MarkerArray ContinentalSRR520DecoderWrapper::convert_to_markers(
   const continental_msgs::msg::ContinentalSrr520ObjectList & msg)
 {
+  std::string base_frame;
+  {
+    std::lock_guard lock(mtx_driver_ptr_);
+    base_frame = sensor_cfg_->base_frame;
+  }
+
   visualization_msgs::msg::MarkerArray marker_array;
   marker_array.markers.reserve(4 * msg.objects.size());
 
@@ -481,7 +487,7 @@ visualization_msgs::msg::MarkerArray ContinentalSRR520DecoderWrapper::convert_to
     current_ids.emplace(object.object_id);
 
     visualization_msgs::msg::Marker box_marker;
-    box_marker.header.frame_id = sensor_cfg_->base_frame;
+    box_marker.header.frame_id = base_frame;
     box_marker.header.stamp = msg.header.stamp;
     box_marker.ns = "boxes";
     box_marker.id = object.object_id;
@@ -556,7 +562,7 @@ visualization_msgs::msg::MarkerArray ContinentalSRR520DecoderWrapper::convert_to
     }
 
     visualization_msgs::msg::Marker delete_marker;
-    delete_marker.header.frame_id = sensor_cfg_->base_frame;
+    delete_marker.header.frame_id = base_frame;
     delete_marker.header.stamp = msg.header.stamp;
     delete_marker.ns = "boxes";
     delete_marker.id = previous_id;
diff --git a/nebula_ros/src/hesai/decoder_wrapper.cpp b/nebula_ros/src/hesai/decoder_wrapper.cpp
index 01f7ba2e3..406c4cb1d 100644
--- a/nebula_ros/src/hesai/decoder_wrapper.cpp
+++ b/nebula_ros/src/hesai/decoder_wrapper.cpp
@@ -113,6 +113,7 @@ void HesaiDecoderWrapper::on_calibration_change(
 drivers::PacketDecodeResult HesaiDecoderWrapper::process_cloud_packet(
   std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg, uint64_t receive_time_ns)
 {
+  std::lock_guard lock(mtx_driver_ptr_);
   current_scan_perf_counters_.receive_time_current_scan_ns += receive_time_ns;
 
   // Ideally, we would only accumulate packets if someone is subscribed to the packets topic.
@@ -131,7 +132,6 @@ drivers::PacketDecodeResult HesaiDecoderWrapper::process_cloud_packet(
     current_scan_msg_->packets.emplace_back(pandar_packet_msg);
   }
 
-  std::lock_guard lock(mtx_driver_ptr_);
   auto decode_result = driver_ptr_->parse_cloud_packet(packet_msg->data);
 
   current_scan_perf_counters_.decode_time_current_scan_ns +=
@@ -216,7 +216,11 @@ void HesaiDecoderWrapper::publish_cloud(
   if (pointcloud->header.stamp.sec < 0) {
     RCLCPP_WARN_STREAM(logger_, "Timestamp error, verify clock source.");
   }
-  pointcloud->header.frame_id = sensor_cfg_->frame_id;
+
+  {
+    std::lock_guard lock(mtx_driver_ptr_);
+    pointcloud->header.frame_id = sensor_cfg_->frame_id;
+  }
   publisher->publish(std::move(pointcloud));
 }
 
diff --git a/nebula_ros/src/robosense/decoder_wrapper.cpp b/nebula_ros/src/robosense/decoder_wrapper.cpp
index 0dcee387c..80922f275 100644
--- a/nebula_ros/src/robosense/decoder_wrapper.cpp
+++ b/nebula_ros/src/robosense/decoder_wrapper.cpp
@@ -157,7 +157,11 @@ void RobosenseDecoderWrapper::publish_cloud(
     RCLCPP_WARN_STREAM(logger_, "Timestamp error, verify clock source.");
     return;
   }
-  pointcloud->header.frame_id = sensor_cfg_->frame_id;
+
+  {
+    std::lock_guard lock(mtx_driver_ptr_);
+    pointcloud->header.frame_id = sensor_cfg_->frame_id;
+  }
   publisher->publish(std::move(pointcloud));
 }
 
diff --git a/nebula_ros/src/velodyne/decoder_wrapper.cpp b/nebula_ros/src/velodyne/decoder_wrapper.cpp
index 3a86fbe61..8704da88a 100644
--- a/nebula_ros/src/velodyne/decoder_wrapper.cpp
+++ b/nebula_ros/src/velodyne/decoder_wrapper.cpp
@@ -130,8 +130,11 @@ rcl_interfaces::msg::SetParametersResult VelodyneDecoderWrapper::on_parameter_ch
   }
 
   on_calibration_change(get_calibration_result.value());
-  RCLCPP_INFO_STREAM(
-    logger_, "Changed calibration to '" << calibration_cfg_ptr_->calibration_file << "'");
+  {
+    std::lock_guard lock(mtx_driver_ptr_);
+    RCLCPP_INFO_STREAM(
+      logger_, "Changed calibration to '" << calibration_cfg_ptr_->calibration_file << "'");
+  }
   return rcl_interfaces::build<SetParametersResult>().successful(true).reason("");
 }
 
@@ -238,7 +241,11 @@ void VelodyneDecoderWrapper::publish_cloud(
   if (pointcloud->header.stamp.sec < 0) {
     RCLCPP_WARN_STREAM(logger_, "Timestamp error, verify clock source.");
   }
-  pointcloud->header.frame_id = sensor_cfg_->frame_id;
+
+  {
+    std::lock_guard lock(mtx_driver_ptr_);
+    pointcloud->header.frame_id = sensor_cfg_->frame_id;
+  }
   publisher->publish(std::move(pointcloud));
 }