diff --git a/NOTICE b/NOTICE
index 0ab1cd3..42aa8e8 100644
--- a/NOTICE
+++ b/NOTICE
@@ -24,5 +24,7 @@
 Capra Robotics ApS
     Bartolome Jimenez Vera <bjv@capra.ooo>
 
+Daniil Mordanov <153565951+Daniiiil1@users.noreply.github.com>
+
 Robert Bosch GmbH
     Arne Nordmann <arne.nordmann@de.bosch.com>
diff --git a/micro_ros_diagnostic_updater/include/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.h b/micro_ros_diagnostic_updater/include/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.h
index ad73a12..276a82c 100644
--- a/micro_ros_diagnostic_updater/include/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.h
+++ b/micro_ros_diagnostic_updater/include/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.h
@@ -56,6 +56,8 @@ typedef struct diagnostic_updater_t
   diagnostic_task_t * tasks[MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_TASKS_PER_UPDATER];
   rcl_publisher_t diag_pub;
   micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticStatus diag_status;
+  micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticKeyValue key_value_buffer[
+    MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK];
   rcl_subscription_t force_update_subscriber;
   bool force_update;
   std_msgs__msg__Empty empty_msg;
diff --git a/micro_ros_diagnostic_updater/src/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.c b/micro_ros_diagnostic_updater/src/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.c
index 4a6c9eb..2007bca 100644
--- a/micro_ros_diagnostic_updater/src/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.c
+++ b/micro_ros_diagnostic_updater/src/micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.c
@@ -19,9 +19,6 @@
 #include <micro_ros_diagnostic_updater/micro_ros_diagnostic_updater.h>
 #include <micro_ros_diagnostic_msgs/msg/micro_ros_diagnostic_status.h>
 
-static micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticKeyValue key_value_buffer[
-  MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK];
-
 void
 rclc_diagnostic_value_set_int(
   diagnostic_value_t * kv,
@@ -144,9 +141,9 @@ rclc_diagnostic_updater_init(
 
   // message
   micro_ros_diagnostic_msgs__msg__MicroROSDiagnosticStatus__init(&updater->diag_status);
-  updater->diag_status.values.data = key_value_buffer;
+  updater->diag_status.values.data = updater->key_value_buffer;
   updater->diag_status.values.size = 0;
-  updater->diag_status.values.capacity = sizeof(key_value_buffer);
+  updater->diag_status.values.capacity = MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK;
 
   updater->force_update = false;
 
diff --git a/micro_ros_diagnostic_updater/test/test_diagnostic_updater.cpp b/micro_ros_diagnostic_updater/test/test_diagnostic_updater.cpp
index fdfde4e..326fe9d 100644
--- a/micro_ros_diagnostic_updater/test/test_diagnostic_updater.cpp
+++ b/micro_ros_diagnostic_updater/test/test_diagnostic_updater.cpp
@@ -123,6 +123,53 @@ TEST(TestDiagnosticUpdater, create_updater) {
   EXPECT_EQ(RCL_RET_OK, rc);
 }
 
+TEST(TestDiagnosticUpdater, updaters_have_independent_value_buffers) {
+  rclc_support_t support;
+  rcl_ret_t rc;
+
+  // node
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rc = rclc_support_init(&support, 0, nullptr, &allocator);
+  const char * my_name = "test_independent_updaters_node";
+  const char * my_namespace = "";
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  rc = rclc_node_init_default(&node, my_name, my_namespace, &support);
+
+  // executor
+  rclc_executor_t executor;
+  executor = rclc_executor_get_zero_initialized_executor();
+  unsigned int num_handles = 2;
+  rclc_executor_init(&executor, &support.context, num_handles, &allocator);
+
+  // updaters
+  diagnostic_updater_t updater_0;
+  diagnostic_updater_t updater_1;
+  rc = rclc_diagnostic_updater_init(&updater_0, &node, &executor);
+  ASSERT_EQ(RCL_RET_OK, rc);
+  rc = rclc_diagnostic_updater_init(&updater_1, &node, &executor);
+  ASSERT_EQ(RCL_RET_OK, rc);
+
+  EXPECT_EQ(updater_0.key_value_buffer, updater_0.diag_status.values.data);
+  EXPECT_EQ(updater_1.key_value_buffer, updater_1.diag_status.values.data);
+  EXPECT_NE(updater_0.diag_status.values.data, updater_1.diag_status.values.data);
+  EXPECT_EQ(
+    MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK,
+    updater_0.diag_status.values.capacity);
+  EXPECT_EQ(
+    MICRO_ROS_DIAGNOSTIC_UPDATER_MAX_VALUES_PER_TASK,
+    updater_1.diag_status.values.capacity);
+
+  updater_0.key_value_buffer[0].key = 17;
+  updater_1.key_value_buffer[0].key = 42;
+  EXPECT_EQ(17, updater_0.diag_status.values.data[0].key);
+  EXPECT_EQ(42, updater_1.diag_status.values.data[0].key);
+
+  rc = rclc_diagnostic_updater_fini(&updater_0, &node, &executor);
+  EXPECT_EQ(RCL_RET_OK, rc);
+  rc = rclc_diagnostic_updater_fini(&updater_1, &node, &executor);
+  EXPECT_EQ(RCL_RET_OK, rc);
+}
+
 TEST(TestDiagnosticUpdater, updater_add_tasks) {
   rclc_support_t support;
   rcl_ret_t rc;