diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index 7276ef79ad..4e723f1ac5 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -58,9 +58,7 @@ class BtActionNode : public BT::ActionNodeBase
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
index b6458d881a..d63dc1e104 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
@@ -56,9 +56,7 @@ class BtCancelActionNode : public BT::ActionNodeBase
     callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
 
     // Get the required items from the blackboard
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
index 6608eee67a..746ef61049 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -59,9 +59,7 @@ class BtServiceNode : public BT::ActionNodeBase
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    getInputOrBlackboard("server_timeout", server_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");