diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index 6740dc80d44606a7daa69de62c9f6cbec5d9efc4..dfd3780e2a8c0657b12fa3512e7d1b31b29e32f5 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -56,7 +56,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
     client_node_, "NavigateToPose");
 
   goal_sub_ = rclcpp_node_->create_subscription<geometry_msgs::msg::PoseStamped>(
-    "/move_base_simple/goal",
+    "/goal_pose",
     rclcpp::SystemDefaultsQoS(),
     std::bind(&BtNavigator::onGoalPoseReceived, this, std::placeholders::_1));
 
diff --git a/nav2_system_tests/src/system/test_system_node.py b/nav2_system_tests/src/system/test_system_node.py
index a73285e73bda55fec435cc64947b7ca9636d38f5..35ecc24c206279939d34b1cc1e5cc1574a488cc4 100755
--- a/nav2_system_tests/src/system/test_system_node.py
+++ b/nav2_system_tests/src/system/test_system_node.py
@@ -31,7 +31,7 @@ class NavTester(Node):
         super().__init__('nav2_tester')
         self.initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped,
                                                       '/initialpose')
-        self.goal_pub = self.create_publisher(PoseStamped, '/move_base_simple/goal')
+        self.goal_pub = self.create_publisher(PoseStamped, '/goal_pose')
 
         self.model_pose_sub = self.create_subscription(PoseWithCovarianceStamped,
                                                        '/amcl_pose', self.poseCallback)