diff --git a/tf2_ros/include/tf2_ros/transform_listener.h b/tf2_ros/include/tf2_ros/transform_listener.h
index 02d3c0963..28fb2a238 100644
--- a/tf2_ros/include/tf2_ros/transform_listener.h
+++ b/tf2_ros/include/tf2_ros/transform_listener.h
@@ -116,7 +116,8 @@ class TransformListener
   rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr message_subscription_tf_;
   rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr message_subscription_tf_static_;
   tf2::BufferCore & buffer_;
-  std::atomic<bool> stop_thread_{false};
+  std::unique_ptr<rclcpp::executors::SingleThreadedExecutor> executor_;
+  bool spin_thread_{false};
   tf2::TimePoint last_update_;
 };
 }  // namespace tf2_ros
diff --git a/tf2_ros/src/transform_listener.cpp b/tf2_ros/src/transform_listener.cpp
index 854436726..7426f1e97 100644
--- a/tf2_ros/src/transform_listener.cpp
+++ b/tf2_ros/src/transform_listener.cpp
@@ -54,19 +54,24 @@ TransformListener::TransformListener(tf2::BufferCore & buffer, bool spin_thread)
 
 TransformListener::~TransformListener()
 {
-  stop_thread_ = true;
+  if (spin_thread_) {
+  executor_->cancel();
+  }
 }
 
 void TransformListener::initThread(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface)
 {
-  stop_thread_ = false;
+  executor_ = std::make_unique<rclcpp::executors::SingleThreadedExecutor>();
+  spin_thread_ = true;
   // This lambda is required because `std::thread` cannot infer the correct
   // rclcpp::spin, since there are more than one versions of it (overloaded).
   // see: http://stackoverflow.com/a/27389714/671658
   // I (wjwwood) chose to use the lamda rather than the static cast solution.
   auto run_func = [&](rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface) {
-      while (!stop_thread_ && rclcpp::ok()) {rclcpp::spin_some(node_base_interface);}
+      executor_->add_node(node_base_interface);
+      executor_->spin();
+      executor_->remove_node(node_base_interface);
     };
   dedicated_listener_thread_ = thread_ptr(
     new std::thread(run_func, node_base_interface),