diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
index 2397a9ad2d..97a9c0a4ff 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp
@@ -73,7 +73,7 @@ class Costmap2DPublisher
     std::string global_frame,
     std::string topic_name,
     bool always_send_full_costmap = false,
-    float map_vis_z = 0.0);
+    double map_vis_z = 0.0);
 
   /**
    * @brief  Destructor
@@ -167,7 +167,7 @@ class Costmap2DPublisher
   double saved_origin_y_;
   bool active_;
   bool always_send_full_costmap_;
-  float map_vis_z_;
+  double map_vis_z_;
 
   // Publisher for translated costmap values as msg::OccupancyGrid used in visualization
   rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::OccupancyGrid>::SharedPtr costmap_pub_;
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
index d7ec01cf8f..2119d6907a 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -404,7 +404,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   bool track_unknown_space_{false};
   double transform_tolerance_{0};           ///< The timeout before transform errors
   double initial_transform_timeout_{0};   ///< The timeout before activation of the node errors
-  float map_vis_z_{0};
+  double map_vis_z_{0};
 
   bool is_lifecycle_follower_{true};   ///< whether is a child-LifecycleNode or an independent node
 
diff --git a/nav2_costmap_2d/src/costmap_2d_publisher.cpp b/nav2_costmap_2d/src/costmap_2d_publisher.cpp
index 011995aa88..bc1b14da78 100644
--- a/nav2_costmap_2d/src/costmap_2d_publisher.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_publisher.cpp
@@ -55,7 +55,7 @@ Costmap2DPublisher::Costmap2DPublisher(
   std::string global_frame,
   std::string topic_name,
   bool always_send_full_costmap,
-  float map_vis_z)
+  double map_vis_z)
 : costmap_(costmap),
   global_frame_(global_frame),
   topic_name_(topic_name),