diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp
index 209958c38d4..67833a383b3 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp
@@ -34,7 +34,12 @@ class AreErrorCodesPresent : public BT::ConditionNode
     const BT::NodeConfiguration & conf)
   : BT::ConditionNode(condition_name, conf)
   {
-    getInput<std::set<uint16_t>>("error_codes_to_check", error_codes_to_check_); //NOLINT
+    std::vector<int> error_codes_to_check_vector;
+    getInput("error_codes_to_check", error_codes_to_check_vector); //NOLINT
+
+    error_codes_to_check_ = std::set<uint16_t>(
+      error_codes_to_check_vector.begin(),
+      error_codes_to_check_vector.end());
   }
 
   AreErrorCodesPresent() = delete;
@@ -55,7 +60,7 @@ class AreErrorCodesPresent : public BT::ConditionNode
     return
       {
         BT::InputPort<uint16_t>("error_code", "The active error codes"), //NOLINT
-        BT::InputPort<std::set<uint16_t>>("error_codes_to_check", "Error codes to check")//NOLINT
+        BT::InputPort<std::vector<int>>("error_codes_to_check", "Error codes to check")//NOLINT
       };
   }
 
diff --git a/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp b/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp
index 111cda7d005..aa0372f49b3 100644
--- a/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp
+++ b/nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp
@@ -28,7 +28,7 @@ class AreErrorCodesPresentFixture : public nav2_behavior_tree::BehaviorTreeTestF
   void SetUp()
   {
     uint16_t error_code = ActionResult::NONE;
-    std::set<uint16_t> error_codes_to_check = {ActionResult::UNKNOWN}; //NOLINT
+    std::vector<int> error_codes_to_check = {ActionResult::UNKNOWN}; //NOLINT
     config_->blackboard->set("error_code", error_code);
     config_->blackboard->set("error_codes_to_check", error_codes_to_check);