diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp
index 66780d21f3..b1c6585623 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp
@@ -196,7 +196,7 @@ class Optimizer
    * @param state fill state
    */
   void integrateStateVelocities(
-    Eigen::Array<float, -1, 3> & trajectories,
+    Eigen::Array<float, Eigen::Dynamic, 3> & trajectories,
     const Eigen::ArrayXXf & state) const;
 
   /**
diff --git a/nav2_mppi_controller/src/noise_generator.cpp b/nav2_mppi_controller/src/noise_generator.cpp
index de08cf3b34..a704ef8b5c 100644
--- a/nav2_mppi_controller/src/noise_generator.cpp
+++ b/nav2_mppi_controller/src/noise_generator.cpp
@@ -82,9 +82,9 @@ void NoiseGenerator::reset(mppi::models::OptimizerSettings & settings, bool is_h
   // Recompute the noises on reset, initialization, and fallback
   {
     std::unique_lock<std::mutex> guard(noise_lock_);
-    noises_vx_ = Eigen::ArrayXXf::Zero(settings_.batch_size, settings_.time_steps);
-    noises_vy_ = Eigen::ArrayXXf::Zero(settings_.batch_size, settings_.time_steps);
-    noises_wz_ = Eigen::ArrayXXf::Zero(settings_.batch_size, settings_.time_steps);
+    noises_vx_.setZero(settings_.batch_size, settings_.time_steps);
+    noises_vy_.setZero(settings_.batch_size, settings_.time_steps);
+    noises_wz_.setZero(settings_.batch_size, settings_.time_steps);
     ready_ = true;
   }
 
diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp
index 3e25947287..5009db7504 100644
--- a/nav2_mppi_controller/src/optimizer.cpp
+++ b/nav2_mppi_controller/src/optimizer.cpp
@@ -300,7 +300,7 @@ void Optimizer::propagateStateVelocitiesFromInitials(
 }
 
 void Optimizer::integrateStateVelocities(
-  Eigen::Array<float, -1, 3> & trajectory,
+  Eigen::Array<float, Eigen::Dynamic, 3> & trajectory,
   const Eigen::ArrayXXf & sequence) const
 {
   float initial_yaw = static_cast<float>(tf2::getYaw(state_.pose.pose.orientation));
@@ -386,8 +386,8 @@ Eigen::ArrayXXf Optimizer::getOptimizedTrajectory()
 {
   const bool is_holo = isHolonomic();
   Eigen::ArrayXXf sequence = Eigen::ArrayXXf(settings_.time_steps, is_holo ? 3 : 2);
-  Eigen::Array<float, -1, 3> trajectories =
-    Eigen::Array<float, -1, 3>(settings_.time_steps, 3);
+  Eigen::Array<float, Eigen::Dynamic, 3> trajectories =
+    Eigen::Array<float, Eigen::Dynamic, 3>(settings_.time_steps, 3);
 
   sequence.col(0) = control_sequence_.vx;
   sequence.col(1) = control_sequence_.wz;