diff --git a/nav2_bringup/bringup/launch/nav2_bringup_launch.py b/nav2_bringup/bringup/launch/nav2_bringup_launch.py
index e487788826c5080a6eb4401952d71d1ea78443d1..3d1c70654aa522ad33233b5344eedc9addf66a4f 100644
--- a/nav2_bringup/bringup/launch/nav2_bringup_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_bringup_launch.py
@@ -14,7 +14,7 @@
 
 import os
 
-from ament_index_python.packages import get_package_prefix, get_package_share_directory
+from ament_index_python.packages import get_package_share_directory
 
 from nav2_common.launch import Node
 
@@ -74,7 +74,7 @@ def generate_launch_description():
     declare_bt_xml_cmd = DeclareLaunchArgument(
         'bt_xml_file',
         default_value=os.path.join(
-            get_package_prefix('nav2_bt_navigator'),
+            get_package_share_directory('nav2_bt_navigator'),
             'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
         description='Full path to the behavior tree xml file to use')
 
diff --git a/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
index ef548f51926fede936b244d1a679ee0bca3a6897..935b896b4c5cea8fd5a74dd19641c63ecc9d5904 100644
--- a/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_multi_tb3_simulation_launch.py
@@ -18,7 +18,6 @@
 
 import os
 
-from ament_index_python.packages import get_package_prefix
 from ament_index_python.packages import get_package_share_directory
 
 from nav2_common.launch import ReplaceString
@@ -76,7 +75,7 @@ def generate_launch_description():
     declare_bt_xml_cmd = DeclareLaunchArgument(
         'bt_xml_file',
         default_value=os.path.join(
-            get_package_prefix('nav2_bt_navigator'),
+            get_package_share_directory('nav2_bt_navigator'),
             'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
         description='Full path to the behavior tree xml file to use')
 
diff --git a/nav2_bringup/bringup/launch/nav2_navigation_launch.py b/nav2_bringup/bringup/launch/nav2_navigation_launch.py
index 4f8f2194b07d5ecc83af1895638f579819b5bd13..3b4d56f4b1ece69a1d4f4f98276b58cc40f82244 100644
--- a/nav2_bringup/bringup/launch/nav2_navigation_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_navigation_launch.py
@@ -14,7 +14,7 @@
 
 import os
 
-from ament_index_python.packages import get_package_prefix, get_package_share_directory
+from ament_index_python.packages import get_package_share_directory
 
 from nav2_common.launch import RewrittenYaml
 from nav2_common.launch import Node
@@ -85,7 +85,7 @@ def generate_launch_description():
 
         DeclareLaunchArgument(
             'bt_xml_file',
-            default_value=os.path.join(get_package_prefix('nav2_bt_navigator'),
+            default_value=os.path.join(get_package_share_directory('nav2_bt_navigator'),
                 'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
             description='Full path to the behavior tree xml file to use'),
 
diff --git a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py b/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
index 45d18d8b853f3c5b8c1096dc8b3ecaaada013e1e..835027ec7f108f1c1fe168ce70bb6b1044013252 100644
--- a/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
+++ b/nav2_bringup/bringup/launch/nav2_tb3_simulation_launch.py
@@ -84,7 +84,7 @@ def generate_launch_description():
     declare_bt_xml_cmd = DeclareLaunchArgument(
         'bt_xml_file',
         default_value=os.path.join(
-            get_package_prefix('nav2_bt_navigator'),
+            get_package_share_directory('nav2_bt_navigator'),
             'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
         description='Full path to the behavior tree xml file to use')
 
diff --git a/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt
index bed3bfdc2c4b01f6679fb326efa59f1c260810fe..478b863e19634da96cc48bb2f539cd8606b351c1 100644
--- a/nav2_bt_navigator/CMakeLists.txt
+++ b/nav2_bt_navigator/CMakeLists.txt
@@ -69,9 +69,7 @@ install(DIRECTORY include/
   DESTINATION include/
 )
 
-install(DIRECTORY behavior_trees/
-  DESTINATION behavior_trees/
-)
+install(DIRECTORY behavior_trees DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py
index 766456c4a9a9f9ad931372877979c251947393a0..d10016c6668fb7cb414690a69ddd9a4260a3d7af 100755
--- a/nav2_system_tests/src/system/test_system_launch.py
+++ b/nav2_system_tests/src/system/test_system_launch.py
@@ -18,7 +18,6 @@ import os
 import sys
 
 
-from ament_index_python.packages import get_package_prefix
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch import LaunchService
@@ -34,7 +33,7 @@ def generate_launch_description():
     bringup_package = get_package_share_directory('nav2_bringup')
     params_file = os.path.join(bringup_package, 'params/nav2_params.yaml')
     astar = (os.getenv('ASTAR').lower() == 'true')
-    bt_navigator_install_path = get_package_prefix('nav2_bt_navigator')
+    bt_navigator_install_path = get_package_share_directory('nav2_bt_navigator')
     bt_navigator_xml = os.path.join(bt_navigator_install_path,
                                     'behavior_trees',
                                     os.getenv('BT_NAVIGATOR_XML'))