diff --git a/aruco_opencv/src/aruco_tracker.cpp b/aruco_opencv/src/aruco_tracker.cpp
index 878dd12..cbf0b94 100644
--- a/aruco_opencv/src/aruco_tracker.cpp
+++ b/aruco_opencv/src/aruco_tracker.cpp
@@ -226,6 +226,7 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
     detector_parameters_.reset();
     detection_pub_.reset();
     debug_pub_.reset();
+    boards_.clear();
 
     return LifecycleNodeInterface::CallbackReturn::SUCCESS;
   }
@@ -245,6 +246,7 @@ class ArucoTracker : public rclcpp_lifecycle::LifecycleNode
     detector_parameters_.reset();
     detection_pub_.reset();
     debug_pub_.reset();
+    boards_.clear();
 
     return LifecycleNodeInterface::CallbackReturn::SUCCESS;
   }