diff --git a/examples/broken_sequence.cpp b/examples/broken_sequence.cpp
index 032d242f9..51927f1bf 100644
--- a/examples/broken_sequence.cpp
+++ b/examples/broken_sequence.cpp
@@ -35,7 +35,7 @@ class ActionTestNode : public ActionNode
 
 private:
   int time_;
-  std::atomic_bool stop_loop_;
+  std::atomic_bool stop_loop_ = false;
 };
 
 int main()
diff --git a/include/behaviortree_cpp/action_node.h b/include/behaviortree_cpp/action_node.h
index 5f332917c..93a4a996f 100644
--- a/include/behaviortree_cpp/action_node.h
+++ b/include/behaviortree_cpp/action_node.h
@@ -132,7 +132,7 @@ class ThreadedAction : public ActionNodeBase
 
 private:
   std::exception_ptr exptr_;
-  std::atomic_bool halt_requested_;
+  std::atomic_bool halt_requested_ = false;
   std::future<void> thread_handle_;
   std::mutex mutex_;
 };
@@ -183,7 +183,7 @@ class StatefulActionNode : public ActionNodeBase
   void halt() override final;
 
 private:
-  std::atomic_bool halt_requested_;
+  std::atomic_bool halt_requested_ = false;
 };
 
 /**
diff --git a/include/behaviortree_cpp/actions/sleep_node.h b/include/behaviortree_cpp/actions/sleep_node.h
index 553116a92..b97e3cdaa 100644
--- a/include/behaviortree_cpp/actions/sleep_node.h
+++ b/include/behaviortree_cpp/actions/sleep_node.h
@@ -38,7 +38,7 @@ class SleepNode : public StatefulActionNode
   TimerQueue<> timer_;
   uint64_t timer_id_;
 
-  std::atomic_bool timer_waiting_;
+  std::atomic_bool timer_waiting_ = false;
   std::mutex delay_mutex_;
 };
 
diff --git a/include/behaviortree_cpp/actions/test_node.h b/include/behaviortree_cpp/actions/test_node.h
index f410a27a6..e56c6a978 100644
--- a/include/behaviortree_cpp/actions/test_node.h
+++ b/include/behaviortree_cpp/actions/test_node.h
@@ -88,7 +88,7 @@ class TestNode : public BT::StatefulActionNode
   TestNodeConfig _test_config;
   ScriptFunction _executor;
   TimerQueue<> _timer;
-  std::atomic_bool _completed;
+  std::atomic_bool _completed = false;
 };
 
 }   // namespace BT
diff --git a/include/behaviortree_cpp/decorators/delay_node.h b/include/behaviortree_cpp/decorators/delay_node.h
index de09866d4..52f9596d8 100644
--- a/include/behaviortree_cpp/decorators/delay_node.h
+++ b/include/behaviortree_cpp/decorators/delay_node.h
@@ -56,11 +56,11 @@ class DelayNode : public DecoratorNode
 
   virtual BT::NodeStatus tick() override;
 
-  bool delay_started_;
-  std::atomic_bool delay_complete_;
-  bool delay_aborted_;
+  bool delay_started_ = false;
+  std::atomic_bool delay_complete_ = false;
+  bool delay_aborted_ = false;
   unsigned msec_;
-  bool read_parameter_from_ports_;
+  bool read_parameter_from_ports_ = false;
   std::mutex delay_mutex_;
 };
 
diff --git a/include/behaviortree_cpp/decorators/timeout_node.h b/include/behaviortree_cpp/decorators/timeout_node.h
index e71a1e936..dc2cb54a0 100644
--- a/include/behaviortree_cpp/decorators/timeout_node.h
+++ b/include/behaviortree_cpp/decorators/timeout_node.h
@@ -73,7 +73,7 @@ class TimeoutNode : public DecoratorNode
   void halt() override;
 
   TimerQueue<> timer_;
-  std::atomic_bool child_halted_;
+  std::atomic_bool child_halted_ = false;
   uint64_t timer_id_;
 
   unsigned msec_;
diff --git a/src/loggers/groot2_publisher.cpp b/src/loggers/groot2_publisher.cpp
index 7682e3daf..f40ae1c66 100644
--- a/src/loggers/groot2_publisher.cpp
+++ b/src/loggers/groot2_publisher.cpp
@@ -73,7 +73,7 @@ struct Groot2Publisher::PImpl
 
   std::string tree_xml;
 
-  std::atomic_bool active_server;
+  std::atomic_bool active_server = false;
   std::thread server_thread;
 
   std::mutex status_mutex;