diff --git a/CMakeLists.txt b/CMakeLists.txt
index e7638cd..3ab3568 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,10 @@ if(${rclcpp_VERSION_MAJOR} GREATER_EQUAL 20)
     add_compile_definitions(RCLCPP_SUPPORTS_MATCHED_CALLBACKS)
 endif()
 
+if(${rclcpp_VERSION_MAJOR} GREATER_EQUAL 17)
+    add_compile_definitions(RCLCPP_SUPPORTS_POST_SET_PARAMS_CALLBACK)
+endif()
+
 ament_auto_add_library(laser_scan_filters SHARED src/laser_scan_filters.cpp)
 ament_auto_add_library(laser_filter_chains SHARED
                          src/scan_to_cloud_filter_chain.cpp
diff --git a/include/laser_filters/speckle_filter.h b/include/laser_filters/speckle_filter.h
index 2eccfec..b253bf3 100644
--- a/include/laser_filters/speckle_filter.h
+++ b/include/laser_filters/speckle_filter.h
@@ -214,8 +214,10 @@ class LaserScanSpeckleFilter : public filters::FilterBase<sensor_msgs::msg::Lase
         break;
     }
 
+    #ifdef RCLCPP_SUPPORTS_POST_SET_PARAMS_CALLBACK
     post_set_parameters_callback_handle_ = params_interface_->add_post_set_parameters_callback(
             std::bind(&LaserScanSpeckleFilter::reconfigureCB, this, std::placeholders::_1));
+    #endif
 
     return true;
   }
@@ -300,7 +302,10 @@ class LaserScanSpeckleFilter : public filters::FilterBase<sensor_msgs::msg::Lase
   double max_range = 0;
   double max_range_difference = 0;
   int filter_window = 0;
+
+  #ifdef RCLCPP_SUPPORTS_POST_SET_PARAMS_CALLBACK
   rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_parameters_callback_handle_;
+  #endif // RCLCPP_SUPPORTS_POST_SET_PARAMS_CALLBACK
 };
 }
 #endif /* speckle_filter.h */