diff --git a/include/slam_toolbox/slam_toolbox_common.hpp b/include/slam_toolbox/slam_toolbox_common.hpp
index 9274ba545..8e43a6e38 100644
--- a/include/slam_toolbox/slam_toolbox_common.hpp
+++ b/include/slam_toolbox/slam_toolbox_common.hpp
@@ -36,8 +36,8 @@
 #include "tf2_ros/create_timer_ros.h"
 #include "tf2_ros/message_filter.h"
 #include "tf2/LinearMath/Matrix3x3.h"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
-#include "tf2_sensor_msgs/tf2_sensor_msgs.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "tf2_sensor_msgs/tf2_sensor_msgs.hpp"
 
 #include "pluginlib/class_loader.hpp"
 
diff --git a/include/slam_toolbox/toolbox_types.hpp b/include/slam_toolbox/toolbox_types.hpp
index f9e6b20c4..c634d3b7c 100644
--- a/include/slam_toolbox/toolbox_types.hpp
+++ b/include/slam_toolbox/toolbox_types.hpp
@@ -24,7 +24,7 @@
 #include <vector>
 
 #include "tf2_ros/buffer.h"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2/transform_datatypes.h"
 
 // god... getting this to work in ROS2 was a real pain
diff --git a/rviz_plugin/slam_toolbox_rviz_plugin.hpp b/rviz_plugin/slam_toolbox_rviz_plugin.hpp
index be89b1e49..dafa5d0b7 100644
--- a/rviz_plugin/slam_toolbox_rviz_plugin.hpp
+++ b/rviz_plugin/slam_toolbox_rviz_plugin.hpp
@@ -41,7 +41,7 @@
 #include "rviz_common/panel.hpp"
 #include "slam_toolbox/toolbox_msgs.hpp"
 #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 class QLineEdit;
 class QSpinBox;
diff --git a/src/slam_toolbox_common.cpp b/src/slam_toolbox_common.cpp
index 5848720d3..f0d7f127f 100644
--- a/src/slam_toolbox_common.cpp
+++ b/src/slam_toolbox_common.cpp
@@ -163,7 +163,7 @@ void SlamToolbox::setParams()
   }
 
   smapper_->configure(shared_from_this());
-  this->declare_parameter("paused_new_measurements");
+  this->declare_parameter("paused_new_measurements",rclcpp::ParameterType::PARAMETER_BOOL);
   this->set_parameter({"paused_new_measurements", false});
 }
 
@@ -301,8 +301,8 @@ bool SlamToolbox::shouldStartWithPoseGraph(
 {
   // if given a map to load at run time, do it.
   this->declare_parameter("map_file_name", std::string(""));
-  auto map_start_pose = this->declare_parameter("map_start_pose");
-  auto map_start_at_dock = this->declare_parameter("map_start_at_dock");
+  auto map_start_pose = this->declare_parameter("map_start_pose",rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY);
+  auto map_start_at_dock = this->declare_parameter("map_start_at_dock",rclcpp::ParameterType::PARAMETER_BOOL);
   filename = this->get_parameter("map_file_name").as_string();
   if (!filename.empty()) {
     std::vector<double> read_pose;