diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp
index 091360b479..4715b0eb22 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp
@@ -22,7 +22,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
-#include "behaviortree_cpp/action_node.h"
+#include "behaviortree_cpp_v3/action_node.h"
 #include "nav_msgs/msg/path.h"
 
 namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp b/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
index cab0311a37..13b2da3140 100644
--- a/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
@@ -72,7 +72,7 @@ inline BT::NodeStatus GetPoseFromPath::tick()
 
 }  // namespace nav2_behavior_tree
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   factory.registerNodeType<nav2_behavior_tree::GetPoseFromPath>("GetPoseFromPath");
diff --git a/nav2_behavior_tree/test/plugins/action/test_get_pose_from_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_get_pose_from_path_action.cpp
index 39f6df2a3c..497a138f32 100644
--- a/nav2_behavior_tree/test/plugins/action/test_get_pose_from_path_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_get_pose_from_path_action.cpp
@@ -23,11 +23,11 @@
 #include "nav_msgs/msg/path.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
-#include "utils/test_action_server.hpp"
+#include "../../test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp"
-#include "utils/test_behavior_tree_fixture.hpp"
+#include "../../test_behavior_tree_fixture.hpp"
 
 class GetPoseFromPathTestFixture : public ::testing::Test
 {