diff --git a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
index af5b9092697..852833d60ae 100644
--- a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
+++ b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
@@ -96,6 +96,7 @@ class BtNavigator : public nav2_util::LifecycleNode
   std::string robot_frame_;
   std::string global_frame_;
   double transform_tolerance_;
+  std::string odom_topic_;
 
   // Spinning transform that can be used by the BT nodes
   std::shared_ptr<tf2_ros::Buffer> tf_;
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index 4bb84d2e0fe..a41260214cd 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -97,6 +97,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
   global_frame_ = get_parameter("global_frame").as_string();
   robot_frame_ = get_parameter("robot_base_frame").as_string();
   transform_tolerance_ = get_parameter("transform_tolerance").as_double();
+  odom_topic_ = get_parameter("odom_topic").as_string();
 
   // Libraries to pull plugins (BT Nodes) from
   auto plugin_lib_names = get_parameter("plugin_lib_names").as_string_array();
@@ -123,7 +124,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
   }
 
   // Odometry smoother object for getting current speed
-  odom_smoother_ = std::make_unique<nav2_util::OdomSmoother>(shared_from_this(), 0.3);
+  odom_smoother_ = std::make_unique<nav2_util::OdomSmoother>(shared_from_this(), 0.3, odom_topic_);
 
   return nav2_util::CallbackReturn::SUCCESS;
 }