diff --git a/nav2_collision_monitor/params/collision_monitor_params.yaml b/nav2_collision_monitor/params/collision_monitor_params.yaml
index 239960e5934..e518ef680e6 100644
--- a/nav2_collision_monitor/params/collision_monitor_params.yaml
+++ b/nav2_collision_monitor/params/collision_monitor_params.yaml
@@ -2,7 +2,7 @@ collision_monitor:
   ros__parameters:
     base_frame_id: "base_footprint"
     odom_frame_id: "odom"
-    cmd_vel_in_topic: "cmd_vel_raw"
+    cmd_vel_in_topic: "cmd_vel_smoothed"
     cmd_vel_out_topic: "cmd_vel"
     state_topic: "collision_monitor_state"
     transform_tolerance: 0.5
diff --git a/nav2_collision_monitor/src/collision_monitor_node.cpp b/nav2_collision_monitor/src/collision_monitor_node.cpp
index 6b678c9c768..8b7984a9c7d 100644
--- a/nav2_collision_monitor/src/collision_monitor_node.cpp
+++ b/nav2_collision_monitor/src/collision_monitor_node.cpp
@@ -205,7 +205,7 @@ bool CollisionMonitor::getParameters(
   auto node = shared_from_this();
 
   nav2_util::declare_parameter_if_not_declared(
-    node, "cmd_vel_in_topic", rclcpp::ParameterValue("cmd_vel_raw"));
+    node, "cmd_vel_in_topic", rclcpp::ParameterValue("cmd_vel_smoothed"));
   cmd_vel_in_topic = get_parameter("cmd_vel_in_topic").as_string();
   nav2_util::declare_parameter_if_not_declared(
     node, "cmd_vel_out_topic", rclcpp::ParameterValue("cmd_vel"));