diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp
index d5c16ee61c0..19b0a8a34b6 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp
@@ -19,7 +19,6 @@
 
 #include <memory>
 #include <string>
-#include <vector>
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/pose_stamped_array.hpp"
@@ -78,7 +77,7 @@ class GoalUpdater : public BT::DecoratorNode
 
   /**
    * @brief Callback function for goals update topic
-   * @param msg Shared pointer to vector of geometry_msgs::msg::PoseStamped message
+   * @param msg Shared pointer to geometry_msgs::msg::PoseStampedArray message
    */
   void callback_updated_goals(const geometry_msgs::msg::PoseStampedArray::SharedPtr msg);
 
diff --git a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
index ad8bd8c970a..2fcd19a567b 100644
--- a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
+++ b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
@@ -99,7 +99,7 @@ inline BT::NodeStatus GoalUpdater::tick()
     auto last_goals_received_time = rclcpp::Time(last_goals_received_.header.stamp);
     auto goals_time = rclcpp::Time(goals.header.stamp);
     if (last_goals_received_time > goals_time) {
-      setOutput("output_goals", last_goals_received_.poses);
+      setOutput("output_goals", last_goals_received_);
     } else {
       RCLCPP_WARN(
         node_->get_logger(), "The timestamp of the received goals (%f) is older than the "