diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
index 8c63132adc..cd0f44832e 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
@@ -251,6 +251,7 @@ public:
             return res;
         }
         (void)allocation_pub_.setPriority(TransferPriorityLow);
+        allocation_pub_.setTxTimeout(MonotonicDuration::fromMSec(Allocation::DEFAULT_REQUEST_PERIOD_MS));
 
         res = allocation_sub_.start(AllocationCallback(this, &AllocationRequestManager::handleAllocation));
         if (res < 0)