diff --git a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
index 7ca95d7f91..c844048b44 100644
--- a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
@@ -23,6 +23,7 @@
 #include "nav2_util/robot_utils.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "tf2_ros/buffer.h"
+#include "nav2_util/node_utils.hpp"
 
 namespace nav2_behavior_tree
 {
@@ -64,6 +65,10 @@ class GoalReachedCondition : public BT::ConditionNode
   void initialize()
   {
     node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
+
+    nav2_util::declare_parameter_if_not_declared(
+      node_, "goal_reached_tol",
+      rclcpp::ParameterValue(0.25));
     node_->get_parameter_or<double>("goal_reached_tol", goal_reached_tol_, 0.25);
     tf_ = config().blackboard->get<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer");
 
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
index 3d0ae06774..91f08b1bb5 100644
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
+++ b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
@@ -65,6 +65,9 @@ class OdomSubscriber
     nav2_util::LifecycleNode::SharedPtr nh,
     std::string default_topic = "odom")
   {
+    nav2_util::declare_parameter_if_not_declared(
+      nh, "odom_topic", rclcpp::ParameterValue(default_topic));
+
     std::string odom_topic;
     nh->get_parameter_or("odom_topic", odom_topic, default_topic);
     odom_sub_ =