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 e2bc8d2fbae..0406c8735ef 100644
--- a/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
+++ b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
@@ -20,6 +20,7 @@
 #include <vector>
 
 #include "nav2_util/lifecycle_node.hpp"
+#include "nav2_util/odometry_utils.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
diff --git a/nav2_bt_navigator/include/nav2_bt_navigator/navigator.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/navigator.hpp
index 3f71d704944..53b93ebfab4 100644
--- a/nav2_bt_navigator/include/nav2_bt_navigator/navigator.hpp
+++ b/nav2_bt_navigator/include/nav2_bt_navigator/navigator.hpp
@@ -20,6 +20,7 @@
 #include <vector>
 #include <mutex>
 
+#include "nav2_util/odometry_utils.hpp"
 #include "tf2_ros/buffer.h"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
@@ -296,7 +297,7 @@ class Navigator
    * @param Method to configure resources.
    */
   virtual bool configure(
-    rclcpp_lifecycle::LifecycleNode::WeakPtr /*node*/
+    rclcpp_lifecycle::LifecycleNode::WeakPtr /*node*/,
     std::shared_ptr<nav2_util::OdomSmoother> /*odom_smoother*/)
   {
     return true;
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index cfc23d85387..dee7542b0dd 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -112,7 +112,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
   feedback_utils.transform_tolerance = transform_tolerance_;
 
   // Odometry smoother object for getting current speed
-  odom_smoother_ = std::make_shared<nav2_util::OdomSmoother>(shared_from_this(), 0.3, odom_topic_)
+  odom_smoother_ = std::make_shared<nav2_util::OdomSmoother>(shared_from_this(), 0.3, odom_topic_);
 
   if (!pose_navigator_->on_configure(
       shared_from_this(), plugin_lib_names, feedback_utils, &plugin_muxer_, odom_smoother_))