diff --git a/rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp b/rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp
index 59d3deb1c..e9099cc15 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp
@@ -130,16 +130,8 @@ void TFWrapper::initialize(
   bool using_dedicated_thread)
 {
   initializeBuffer(clock, rviz_ros_node.lock()->get_raw_node(), using_dedicated_thread);
-  if (using_dedicated_thread) {
-    // TODO(pull/551): The TransformListener needs very quick spinning so it uses its own node
-    // here. Remove this in favor of a multithreaded spinner and ensure that the listener callback
-    // queue does not fill up.
-    tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
-      *buffer_, true);
-  } else {
-    tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
-      *buffer_, rviz_ros_node.lock()->get_raw_node(), false);
-  }
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
+    *buffer_, rviz_ros_node.lock()->get_raw_node(), using_dedicated_thread);
 }
 
 void TFWrapper::initializeBuffer(