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 1c16b4aebc..b40b8f825b 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
@@ -22,7 +22,7 @@
 #include <vector>
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
-#include "nav2_msgs/msg/poses_stamped.hpp"
+#include "nav2_msgs/msg/pose_stamped_array.hpp"
 
 #include "behaviortree_cpp/decorator_node.h"
 
@@ -80,10 +80,10 @@ class GoalUpdater : public BT::DecoratorNode
    * @brief Callback function for goals update topic
    * @param msg Shared pointer to vector of geometry_msgs::msg::PoseStamped message
    */
-  void callback_updated_goals(const nav2_msgs::msg::PosesStamped::SharedPtr msg);
+  void callback_updated_goals(const nav2_msgs::msg::PoseStampedArray::SharedPtr msg);
 
   rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr goal_sub_;
-  rclcpp::Subscription<nav2_msgs::msg::PosesStamped>::SharedPtr goals_sub_;
+  rclcpp::Subscription<nav2_msgs::msg::PoseStampedArray>::SharedPtr goals_sub_;
 
   geometry_msgs::msg::PoseStamped last_goal_received_;
   Goals last_goals_received_;
diff --git a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
index 33ee87b344..fd32e4c8c4 100644
--- a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
+++ b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
@@ -52,7 +52,7 @@ GoalUpdater::GoalUpdater(
     rclcpp::SystemDefaultsQoS(),
     std::bind(&GoalUpdater::callback_updated_goal, this, _1),
     sub_option);
-  goals_sub_ = node_->create_subscription<nav2_msgs::msg::PosesStamped>(
+  goals_sub_ = node_->create_subscription<nav2_msgs::msg::PoseStampedArray>(
     goals_updater_topic,
     rclcpp::SystemDefaultsQoS(),
     std::bind(&GoalUpdater::callback_updated_goals, this, _1),
@@ -101,7 +101,7 @@ GoalUpdater::callback_updated_goal(const geometry_msgs::msg::PoseStamped::Shared
 }
 
 void
-GoalUpdater::callback_updated_goals(const nav2_msgs::msg::PosesStamped::SharedPtr msg)
+GoalUpdater::callback_updated_goals(const nav2_msgs::msg::PoseStampedArray::SharedPtr msg)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   last_goals_received_ = msg->poses;
diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt
index ae2ceec881..e7bfb22cda 100644
--- a/nav2_msgs/CMakeLists.txt
+++ b/nav2_msgs/CMakeLists.txt
@@ -29,7 +29,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/BehaviorTreeLog.msg"
   "msg/Particle.msg"
   "msg/ParticleCloud.msg"
-  "msg/PosesStamped.msg"
+  "msg/PoseStampedArray.msg"
   "msg/MissedWaypoint.msg"
   "srv/GetCosts.srv"
   "srv/GetCostmap.srv"
diff --git a/nav2_msgs/msg/PoseStampedArray.msg b/nav2_msgs/msg/PoseStampedArray.msg
new file mode 100644
index 0000000000..1a4e04dc0d
--- /dev/null
+++ b/nav2_msgs/msg/PoseStampedArray.msg
@@ -0,0 +1,4 @@
+# An array of stamped poses with a header for global reference.
+
+std_msgs/Header header
+geometry_msgs/PoseStamped[] poses
\ No newline at end of file
diff --git a/nav2_msgs/msg/PosesStamped.msg b/nav2_msgs/msg/PosesStamped.msg
deleted file mode 100644
index dafb5fff0e..0000000000
--- a/nav2_msgs/msg/PosesStamped.msg
+++ /dev/null
@@ -1 +0,0 @@
-geometry_msgs/PoseStamped[] poses
\ No newline at end of file