diff --git a/include/sensor.hpp b/include/sensor.hpp
index 263cbfb..fa35ef5 100644
--- a/include/sensor.hpp
+++ b/include/sensor.hpp
@@ -61,6 +61,7 @@
         setInitialProperties(std::shared_ptr<sdbusplus::asio::connection>& conn)
     {
         createAssociation(association, configurationPath);
+
         sensorInterface->register_property("MaxValue", maxValue);
         sensorInterface->register_property("MinValue", minValue);
         sensorInterface->register_property(
diff --git a/src/PSUSensor.cpp b/src/PSUSensor.cpp
index d5f1b23..e94d1c4 100644
--- a/src/PSUSensor.cpp
+++ b/src/PSUSensor.cpp
@@ -81,10 +81,14 @@
         thresholdInterfaceCritical = objectServer.add_interface(
             dbusPath, "xyz.openbmc_project.Sensor.Threshold.Critical");
     }
-    association = objectServer.add_interface(dbusPath, association::interface);
 
+    // This should be called before initializing association.
+    // createInventoryAssoc() does add more associations before doing
+    // register and initialize "Associations" property.
     setInitialProperties(conn);
 
+    association = objectServer.add_interface(dbusPath, association::interface);
+
     createInventoryAssoc(conn, association, configurationPath);
     setupRead();
 }
@@ -96,6 +100,7 @@
     objServer.remove_interface(sensorInterface);
     objServer.remove_interface(thresholdInterfaceWarning);
     objServer.remove_interface(thresholdInterfaceCritical);
+    objServer.remove_interface(association);
 }
 
 void PSUSensor::setupRead(void)
diff --git a/src/Utils.cpp b/src/Utils.cpp
index 44a6bae..ca5a294 100644
--- a/src/Utils.cpp
+++ b/src/Utils.cpp
@@ -271,17 +271,24 @@
 
 void setInventoryAssociation(
     std::shared_ptr<sdbusplus::asio::dbus_interface> association,
-    const std::string& path, const std::string& chassisPath)
+    const std::string& path,
+    const std::vector<std::string>& chassisPaths = std::vector<std::string>())
 {
     if (association)
     {
         std::filesystem::path p(path);
-
         std::vector<Association> associations;
-        associations.push_back(
-            Association("inventory", "sensors", p.parent_path().string()));
-        associations.push_back(
-            Association("chassis", "all_sensors", chassisPath));
+        std::string objPath(p.parent_path().string());
+
+        associations.push_back(Association("inventory", "sensors", objPath));
+        associations.push_back(Association("chassis", "all_sensors", objPath));
+
+        for (const std::string& chassisPath : chassisPaths)
+        {
+            associations.push_back(
+                Association("chassis", "all_sensors", chassisPath));
+        }
+
         association->register_property("Associations", associations);
         association->initialize();
     }
@@ -296,18 +303,18 @@
     {
         return;
     }
+
     conn->async_method_call(
         [association, path](const boost::system::error_code ec,
-                            const std::vector<std::string>& ret) {
+                            const std::vector<std::string>& invSysObjPaths) {
             if (ec)
             {
-                std::cerr << "Error calling mapper\n";
+                // In case of error, set the default associations and
+                // initialize the association Interface.
+                setInventoryAssociation(association, path);
                 return;
             }
-            for (const auto& object : ret)
-            {
-                setInventoryAssociation(association, path, object);
-            }
+            setInventoryAssociation(association, path, invSysObjPaths);
         },
         mapper::busName, mapper::path, mapper::interface, "GetSubTreePaths",
         "/xyz/openbmc_project/inventory/system", 2,