diff --git a/ros1_foxglove_bridge/src/service_utils.cpp b/ros1_foxglove_bridge/src/service_utils.cpp
index 0403ae0..0cc47ce 100644
--- a/ros1_foxglove_bridge/src/service_utils.cpp
+++ b/ros1_foxglove_bridge/src/service_utils.cpp
@@ -22,7 +22,7 @@ std::string retrieveServiceType(const std::string& serviceName, std::chrono::mil
   auto future = promise.get_future();
 
   link->getConnection()->setHeaderReceivedCallback(
-    [&promise](const ros::ConnectionPtr&, const ros::Header& header) {
+    [&promise](const ros::ConnectionPtr& conn, const ros::Header& header) {
       std::string serviceType;
       if (header.getValue("type", serviceType)) {
         promise.set_value(serviceType);
@@ -30,10 +30,15 @@ std::string retrieveServiceType(const std::string& serviceName, std::chrono::mil
         promise.set_exception(std::make_exception_ptr(
           std::runtime_error("Key 'type' not found in service connection header")));
       }
+      // Close connection since we don't need it any more.
+      conn->drop(ros::Connection::DropReason::Destructing);
       return true;
     });
 
   if (future.wait_for(timeout) != std::future_status::ready) {
+    // Drop connection here, removes the link from the service manager instance and avoids
+    // that the header-received callback is called after the promise has already been destroyed.
+    link->getConnection()->drop(ros::Connection::DropReason::Destructing);
     throw std::runtime_error("Timed out when retrieving service type");
   }