diff --git a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
index 1144ab3d8b0..f3b76f764f3 100644
--- a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
+++ b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <filesystem>
 #include <vector>
 #include <string>
 #include <set>
@@ -60,13 +61,13 @@ NavigateThroughPosesNavigator::getDefaultBTFilepath(
   nav2::LifecycleNode::WeakPtr parent_node)
 {
   auto node = parent_node.lock();
-  std::string pkg_share_dir =
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
 
   auto default_bt_xml_filename = node->declare_or_get_parameter(
     "default_nav_through_poses_bt_xml",
-    pkg_share_dir +
-    "/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml");
+    (pkg_share_dir / "behavior_trees" /
+    "navigate_through_poses_w_replanning_and_recovery.xml").string());
 
   return default_bt_xml_filename;
 }
diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
index 866a1cd3ae8..13ccbf56a4c 100644
--- a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
+++ b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <filesystem>
 #include <vector>
 #include <string>
 #include <memory>
@@ -62,13 +63,13 @@ NavigateToPoseNavigator::getDefaultBTFilepath(
   nav2::LifecycleNode::WeakPtr parent_node)
 {
   auto node = parent_node.lock();
-  std::string pkg_share_dir =
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
 
   auto default_bt_xml_filename = node->declare_or_get_parameter(
     "default_nav_to_pose_bt_xml",
-    pkg_share_dir +
-    "/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml");
+    (pkg_share_dir /
+    "behavior_trees " / "navigate_to_pose_w_replanning_and_recovery.xml").string());
 
   return default_bt_xml_filename;
 }
diff --git a/nav2_core/include/nav2_core/behavior_tree_navigator.hpp b/nav2_core/include/nav2_core/behavior_tree_navigator.hpp
index d3e9f24de6b..b534921fff8 100644
--- a/nav2_core/include/nav2_core/behavior_tree_navigator.hpp
+++ b/nav2_core/include/nav2_core/behavior_tree_navigator.hpp
@@ -15,11 +15,13 @@
 #ifndef NAV2_CORE__BEHAVIOR_TREE_NAVIGATOR_HPP_
 #define NAV2_CORE__BEHAVIOR_TREE_NAVIGATOR_HPP_
 
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <vector>
 #include <mutex>
 
+#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "nav2_util/odometry_utils.hpp"
 #include "tf2_ros/buffer.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -201,10 +203,13 @@ class BehaviorTreeNavigator : public NavigatorBase
     // get the default behavior tree for this navigator
     std::string default_bt_xml_filename = getDefaultBTFilepath(parent_node);
 
+    std::filesystem::path file_path;
+    ament_index_cpp::get_package_share_directory("nav2_bt_navigator", file_path);
+    file_path /= "behavior_trees";
+
     auto search_directories = node->declare_or_get_parameter(
       "bt_search_directories",
-      std::vector<std::string>{ament_index_cpp::get_package_share_directory(
-          "nav2_bt_navigator") + "/behavior_trees"}
+      std::vector<std::string>{file_path.string()}
     );
 
     // Create the Behavior Tree Action Server for this navigator
diff --git a/nav2_docking/opennav_docking/test/test_controller.cpp b/nav2_docking/opennav_docking/test/test_controller.cpp
index 685715ab045..08f9886d925 100644
--- a/nav2_docking/opennav_docking/test/test_controller.cpp
+++ b/nav2_docking/opennav_docking/test/test_controller.cpp
@@ -22,7 +22,6 @@
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 #include "tf2_ros/buffer.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 
 // Testing the controller at high level; the nav2_graceful_controller
 // Where the control law derives has over 98% test coverage
diff --git a/nav2_docking/opennav_docking/test/test_dock_database.cpp b/nav2_docking/opennav_docking/test/test_dock_database.cpp
index e2026f09df6..46d105d4db0 100644
--- a/nav2_docking/opennav_docking/test/test_dock_database.cpp
+++ b/nav2_docking/opennav_docking/test/test_dock_database.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <chrono>
+#include <filesystem>
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
 #include "opennav_docking/dock_database.hpp"
@@ -100,12 +101,14 @@ TEST(DatabaseTests, getDockInstancesBadConversionFile)
     "dockv1.plugin",
     rclcpp::ParameterValue("opennav_docking::SimpleChargingDock"));
 
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("opennav_docking", file_path);
+
   // Set a valid path with a malformed file
   node->declare_parameter(
     "dock_database",
     rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("opennav_docking") +
-      "/dock_files/test_dock_bad_conversion_file.yaml"));
+      (file_path / "dock_files" / "test_dock_bad_conversion_file.yaml").string()));
 
   opennav_docking::DockDatabase db;
   db.initialize(node, nullptr);
@@ -149,8 +152,10 @@ TEST(DatabaseTests, reloadDbService)
     node->create_client<nav2_msgs::srv::ReloadDockDatabase>("test/reload_database");
 
   auto request = std::make_shared<nav2_msgs::srv::ReloadDockDatabase::Request>();
-  request->filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/dock_files/test_dock_file.yaml";
+  std::filesystem::path filepath;
+  ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
+  filepath = filepath / "dock_files" / "test_dock_file.yaml";
+  request->filepath = filepath.string();
   EXPECT_TRUE(client->wait_for_service(1s));
   auto result = client->async_call(request);
   EXPECT_EQ(
@@ -160,8 +165,9 @@ TEST(DatabaseTests, reloadDbService)
 
   // Try again with a bogus file
   auto request2 = std::make_shared<nav2_msgs::srv::ReloadDockDatabase::Request>();
-  request2->filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/file_does_not_exist.yaml";
+  ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
+  filepath = filepath / "file_does_not_exist.yaml";
+  request2->filepath = filepath.string();
   EXPECT_TRUE(client->wait_for_service(1s));
   auto result2 = client->async_call(request2);
   EXPECT_EQ(
@@ -190,8 +196,10 @@ TEST(DatabaseTests, reloadDbMutexLocked)
     node->create_client<nav2_msgs::srv::ReloadDockDatabase>("test/reload_database");
 
   auto request = std::make_shared<nav2_msgs::srv::ReloadDockDatabase::Request>();
-  request->filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/dock_files/test_dock_file.yaml";
+  std::filesystem::path filepath;
+  ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
+  filepath = filepath / "dock_files" / "test_dock_file.yaml";
+  request->filepath = filepath.string();
   EXPECT_TRUE(client->wait_for_service(1s));
   auto result = client->async_call(request);
   EXPECT_EQ(
diff --git a/nav2_docking/opennav_docking/test/test_navigator.cpp b/nav2_docking/opennav_docking/test/test_navigator.cpp
index c5641c1c857..c33c502ca13 100644
--- a/nav2_docking/opennav_docking/test/test_navigator.cpp
+++ b/nav2_docking/opennav_docking/test/test_navigator.cpp
@@ -18,7 +18,6 @@
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_ros_common/simple_action_server.hpp"
 #include "opennav_docking/navigator.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 
 // Test navigator
 
diff --git a/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp b/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
index 341c04b4d11..6521f9e0630 100644
--- a/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
+++ b/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
@@ -20,7 +20,6 @@
 #include "sensor_msgs/msg/battery_state.hpp"
 #include "sensor_msgs/msg/joint_state.hpp"
 #include "opennav_docking/simple_charging_dock.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2/utils.hpp"
 
diff --git a/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp b/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
index 225a5e4642b..f8f8ec1b3bf 100644
--- a/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
+++ b/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
@@ -20,7 +20,6 @@
 #include "sensor_msgs/msg/battery_state.hpp"
 #include "sensor_msgs/msg/joint_state.hpp"
 #include "opennav_docking/simple_non_charging_dock.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 #include "tf2/utils.hpp"
 
diff --git a/nav2_docking/opennav_docking/test/test_utils.cpp b/nav2_docking/opennav_docking/test/test_utils.cpp
index e3607643a9b..a2d881d8347 100644
--- a/nav2_docking/opennav_docking/test/test_utils.cpp
+++ b/nav2_docking/opennav_docking/test/test_utils.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <filesystem>
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
 #include "opennav_docking/utils.hpp"
@@ -91,9 +92,10 @@ TEST(UtilsTests, parseDockFile)
 {
   auto node = std::make_shared<nav2::LifecycleNode>("test4");
   DockMap db;
-  std::string filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/dock_files/test_dock_file.yaml";
-  EXPECT_TRUE(utils::parseDockFile(filepath, node, db));
+  std::filesystem::path filepath;
+  ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
+  filepath = filepath / "dock_files" / "test_dock_file.yaml";
+  EXPECT_TRUE(utils::parseDockFile(filepath.string(), node, db));
   EXPECT_EQ(db.size(), 2u);
   EXPECT_EQ(db["dock1"].frame, std::string("mapA"));
   EXPECT_EQ(db["dock2"].frame, std::string("map"));
@@ -115,24 +117,26 @@ TEST(UtilsTests, parseDockFile2)
   DockMap db;
 
   // Test with a file that has no docks
-  std::string filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/dock_files/test_no_docks_file.yaml";
-  EXPECT_FALSE(utils::parseDockFile(filepath, node, db));
+  std::filesystem::path filepath;
+
+  ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
+  filepath = filepath / "dock_files" / "test_no_docks_file.yaml";
+  EXPECT_FALSE(utils::parseDockFile(filepath.string(), node, db));
 
   // Test with a file that has no type
-  filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/dock_files/test_dock_no_type_file.yaml";
-  EXPECT_FALSE(utils::parseDockFile(filepath, node, db));
+  ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
+  filepath = filepath / "dock_files" / "test_dock_no_type_file.yaml";
+
+  EXPECT_FALSE(utils::parseDockFile(filepath.string(), node, db));
 
   // Test with a file that has no pose
-  filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/dock_files/test_dock_no_pose_file.yaml";
-  EXPECT_FALSE(utils::parseDockFile(filepath, node, db));
+  ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
+  filepath = filepath / "dock_files" / "test_dock_no_pose_file.yaml";
 
   // Test with a file that has wring pose array size
-  filepath = ament_index_cpp::get_package_share_directory("opennav_docking") +
-    "/dock_files/test_dock_bad_pose_file.yaml";
-  EXPECT_FALSE(utils::parseDockFile(filepath, node, db));
+  ament_index_cpp::get_package_share_directory("opennav_docking", filepath);
+  filepath = filepath / "dock_files" / "test_dock_bad_pose_file.yaml";
+  EXPECT_FALSE(utils::parseDockFile(filepath.string(), node, db));
 }
 
 TEST(UtilsTests, testgetDockPoseStamped)
diff --git a/nav2_route/src/graph_loader.cpp b/nav2_route/src/graph_loader.cpp
index 1c71012e866..e5a26ab0b72 100644
--- a/nav2_route/src/graph_loader.cpp
+++ b/nav2_route/src/graph_loader.cpp
@@ -15,7 +15,6 @@
 #include <memory>
 
 #include "nav2_route/graph_loader.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 
 namespace nav2_route
 {
diff --git a/nav2_route/src/graph_saver.cpp b/nav2_route/src/graph_saver.cpp
index 664d51fd8ae..204f4077958 100644
--- a/nav2_route/src/graph_saver.cpp
+++ b/nav2_route/src/graph_saver.cpp
@@ -15,7 +15,6 @@
 #include <memory>
 
 #include "nav2_route/graph_saver.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 
 namespace nav2_route
 {
diff --git a/nav2_route/test/test_geojson_graph_file_loader.cpp b/nav2_route/test/test_geojson_graph_file_loader.cpp
index 1205d71c6a7..292fa608a16 100644
--- a/nav2_route/test/test_geojson_graph_file_loader.cpp
+++ b/nav2_route/test/test_geojson_graph_file_loader.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+#include <filesystem>
 #include <fstream>
 #include <string>
 #include <nlohmann/json.hpp>
@@ -348,13 +349,14 @@ TEST(GeoJsonGraphFileLoader, simple_graph)
 
 TEST(GeoJsonGraphFileLoader, sample_graph)
 {
-  auto file_path = ament_index_cpp::get_package_share_directory("nav2_route") +
-    "/graphs/sample_graph.geojson";
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "sample_graph.geojson";
 
   Graph graph;
   GraphToIDMap graph_to_id_map;
   GeoJsonGraphFileLoader graph_file_loader;
-  bool result = graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path);
+  bool result = graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string());
   EXPECT_TRUE(result);
 
   Metadata region;
@@ -379,10 +381,11 @@ TEST(GeoJsonGraphFileLoader, sample_graph)
 
 TEST(GeoJsonGraphFileLoader, invalid_file)
 {
-  auto file_path = ament_index_cpp::get_package_share_directory("nav2_route") +
-    "/test/test_graphs/invalid.json";
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "test" / "test_graphs" / "invalid.json";
   GeoJsonGraphFileLoader graph_file_loader;
   Graph graph;
   GraphToIDMap graph_to_id_map;
-  EXPECT_FALSE(graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path));
+  EXPECT_FALSE(graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string()));
 }
diff --git a/nav2_route/test/test_geojson_graph_file_saver.cpp b/nav2_route/test/test_geojson_graph_file_saver.cpp
index 921a0439b2d..d999b8c31a4 100644
--- a/nav2_route/test/test_geojson_graph_file_saver.cpp
+++ b/nav2_route/test/test_geojson_graph_file_saver.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+#include <filesystem>
 #include <fstream>
 #include <string>
 #include <nlohmann/json.hpp>
@@ -319,19 +320,20 @@ TEST(GeoJsonGraphFileSaver, simple_graph)
 
 TEST(GeoJsonGraphFileSaver, sample_graph)
 {
-  auto file_path = ament_index_cpp::get_package_share_directory("nav2_route") +
-    "/graphs/sample_graph.geojson";
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "sample_graph.geojson";
 
   Graph graph;
   GraphToIDMap graph_to_id_map;
   GeoJsonGraphFileLoader graph_file_loader;
-  graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path);
+  graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string());
   GeoJsonGraphFileSaver graph_file_saver;
-  bool result = graph_file_saver.saveGraphToFile(graph, file_path);
+  bool result = graph_file_saver.saveGraphToFile(graph, file_path.string());
   EXPECT_TRUE(result);
   Graph graph2;
   GraphToIDMap graph_to_id_map2;
-  graph_file_loader.loadGraphFromFile(graph2, graph_to_id_map2, file_path);
+  graph_file_loader.loadGraphFromFile(graph2, graph_to_id_map2, file_path.string());
 
   Metadata region;
   region = graph2[0].metadata.getValue("region", region);
diff --git a/nav2_route/test/test_graph_loader.cpp b/nav2_route/test/test_graph_loader.cpp
index 7255ae33904..716234d370f 100644
--- a/nav2_route/test/test_graph_loader.cpp
+++ b/nav2_route/test/test_graph_loader.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
+#include <filesystem>
 #include <memory>
 #include <string>
 
@@ -38,10 +39,11 @@ TEST(GraphLoader, test_invalid_plugin)
   auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
   std::string frame = "map";
 
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "aws_graph.geojson";
   nav2::declare_parameter_if_not_declared(
-    node, "graph_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_route") +
-      "/graphs/aws_graph.geojson"));
+    node, "graph_filepath", rclcpp::ParameterValue(file_path.string()));
 
   // Set dummy parameter
   std::string default_plugin = "nav2_route::Dummy";
@@ -57,10 +59,11 @@ TEST(GraphLoader, test_api)
   auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
   std::string frame = "map";
 
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "aws_graph.geojson";
   nav2::declare_parameter_if_not_declared(
-    node, "graph_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_route") +
-      "/graphs/aws_graph.geojson"));
+    node, "graph_filepath", rclcpp::ParameterValue(file_path.string()));
 
   GraphLoader graph_loader(node, tf, frame);
 
@@ -82,22 +85,21 @@ TEST(GraphLoader, test_transformation_api)
   auto tf_broadcaster = std::make_shared<tf2_ros::StaticTransformBroadcaster>(node);
 
   std::string frame = "map";
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "aws_graph.geojson";
 
   nav2::declare_parameter_if_not_declared(
-    node, "graph_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_route") +
-      "/graphs/aws_graph.geojson"));
+    node, "graph_filepath", rclcpp::ParameterValue(file_path.string()));
 
   GraphLoader graph_loader(node, tf, frame);
 
   // Test with a file that now works
   Graph graph;
   GraphToIDMap graph_to_id_map;
-  std::string filepath;
-  filepath =
-    ament_index_cpp::get_package_share_directory("nav2_route") +
-    "/graphs/aws_graph.geojson";
-  EXPECT_TRUE(graph_loader.loadGraphFromFile(graph, graph_to_id_map, filepath));
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "aws_graph.geojson";
+  EXPECT_TRUE(graph_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string()));
 
   // Test with another frame, should transform
   geometry_msgs::msg::TransformStamped transform;
@@ -135,10 +137,12 @@ TEST(GraphLoader, test_transformation_api2)
 
   std::string frame = "map";
 
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "test" / "test_graphs" / "no_frame.json";
+
   nav2::declare_parameter_if_not_declared(
-    node, "graph_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_route") +
-      "/test/test_graphs/no_frame.json"));
+    node, "graph_filepath", rclcpp::ParameterValue(file_path.string()));
 
   GraphLoader graph_loader(node, tf, frame);
 
@@ -146,7 +150,7 @@ TEST(GraphLoader, test_transformation_api2)
   Graph graph;
   GraphToIDMap graph_to_id_map;
   EXPECT_FALSE(graph_loader.loadGraphFromParameter(graph, graph_to_id_map));
-  std::string filepath = ament_index_cpp::get_package_share_directory("nav2_route") +
-    "/test/test_graphs/no_frame.json";
-  EXPECT_FALSE(graph_loader.loadGraphFromFile(graph, graph_to_id_map, filepath));
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "test" / "test_graphs" / "no_frame.json";
+  EXPECT_FALSE(graph_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string()));
 }
diff --git a/nav2_route/test/test_graph_saver.cpp b/nav2_route/test/test_graph_saver.cpp
index 49c3747ebac..9ba7456adae 100644
--- a/nav2_route/test/test_graph_saver.cpp
+++ b/nav2_route/test/test_graph_saver.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <fstream>
@@ -40,10 +41,12 @@ TEST(GraphSaver, test_invalid_plugin)
   auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
   std::string frame = "map";
 
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "aws_graph.geojson";
+
   nav2::declare_parameter_if_not_declared(
-    node, "graph_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_route") +
-      "/graphs/aws_graph.geojson"));
+    node, "graph_filepath", rclcpp::ParameterValue(file_path.string()));
 
   // Set dummy parameter
   std::string default_plugin = "nav2_route::Dummy";
@@ -59,10 +62,12 @@ TEST(GraphSaver, test_empty_filename)
   auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
   std::string frame = "map";
 
+  std::filesystem::path filepath;
+  ament_index_cpp::get_package_share_directory("nav2_route", filepath);
+  filepath = filepath / "graphs" / "aws_graph.geojson";
+
   nav2::declare_parameter_if_not_declared(
-    node, "graph_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_route") +
-      "/graphs/aws_graph.geojson"));
+    node, "graph_filepath", rclcpp::ParameterValue(filepath.string()));
 
   GraphLoader graph_loader(node, tf, frame);
   GraphSaver graph_saver(node, tf, frame);
@@ -80,10 +85,12 @@ TEST(GraphSaver, test_api)
   auto tf = std::make_shared<tf2_ros::Buffer>(node->get_clock());
   std::string frame = "map";
 
+  std::filesystem::path filepath;
+  ament_index_cpp::get_package_share_directory("nav2_route", filepath);
+  filepath = filepath / "graphs" / "aws_graph.geojson";
+
   nav2::declare_parameter_if_not_declared(
-    node, "graph_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_route") +
-      "/graphs/aws_graph.geojson"));
+    node, "graph_filepath", rclcpp::ParameterValue(filepath.string()));
 
   GraphLoader graph_loader(node, tf, frame);
   GraphSaver graph_saver(node, tf, frame);
@@ -119,21 +126,21 @@ TEST(GraphSaver, test_transformation_api)
 
   std::string frame = "map";
 
+  std::filesystem::path file_path;
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "aws_graph.geojson";
+
   nav2::declare_parameter_if_not_declared(
-    node, "graph_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_route") +
-      "/graphs/aws_graph.geojson"));
+    node, "graph_filepath", rclcpp::ParameterValue(file_path.string()));
 
   GraphLoader graph_loader(node, tf, frame);
 
   // Test with a file that now works
   Graph graph;
   GraphToIDMap graph_to_id_map;
-  std::string filepath;
-  filepath =
-    ament_index_cpp::get_package_share_directory("nav2_route") +
-    "/graphs/aws_graph.geojson";
-  graph_loader.loadGraphFromFile(graph, graph_to_id_map, filepath);
+  ament_index_cpp::get_package_share_directory("nav2_route", file_path);
+  file_path = file_path / "graphs" / "aws_graph.geojson";
+  graph_loader.loadGraphFromFile(graph, graph_to_id_map, file_path.string());
 
   // Test with another frame, should transform
   geometry_msgs::msg::TransformStamped transform;
@@ -148,11 +155,11 @@ TEST(GraphSaver, test_transformation_api)
   executor.spin_all(std::chrono::milliseconds(50));
 
   GraphSaver graph_saver(node, tf, frame);
-  std::string file_path = "test.geojson";
+  file_path = "test.geojson";
   graph[0].coords.frame_id = "map_test";
   EXPECT_EQ(graph[0].coords.frame_id, "map_test");
   double or_coord = graph[0].coords.x;
-  EXPECT_TRUE(graph_saver.saveGraphToFile(graph, file_path));
+  EXPECT_TRUE(graph_saver.saveGraphToFile(graph, file_path.string()));
   EXPECT_EQ(graph[0].coords.frame_id, "map");
   EXPECT_NE(graph[0].coords.x, or_coord);
   std::filesystem::remove(file_path);
@@ -161,7 +168,7 @@ TEST(GraphSaver, test_transformation_api)
   graph[0].coords.frame_id = "map_test2";
   EXPECT_EQ(graph[0].coords.frame_id, "map_test2");
   or_coord = graph[0].coords.x;
-  EXPECT_FALSE(graph_saver.saveGraphToFile(graph, file_path));
+  EXPECT_FALSE(graph_saver.saveGraphToFile(graph, file_path.string()));
   EXPECT_EQ(graph[0].coords.frame_id, "map_test2");
   EXPECT_EQ(graph[0].coords.x, or_coord);
 }
diff --git a/nav2_route/test/test_route_server.cpp b/nav2_route/test/test_route_server.cpp
index 5fb73b4ce0f..bb35f6324ef 100644
--- a/nav2_route/test/test_route_server.cpp
+++ b/nav2_route/test/test_route_server.cpp
@@ -13,6 +13,7 @@
 // limitations under the License. Reserved.
 
 #include <math.h>
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <vector>
@@ -163,12 +164,13 @@ TEST(RouteServerTest, test_lifecycle)
 
 TEST(RouteServerTest, test_set_srv)
 {
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_route");
-  std::string real_filepath = pkg_share_dir + "/graphs/aws_graph.geojson";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_route", pkg_share_dir);
+  std::filesystem::path real_filepath = pkg_share_dir / "graphs" / "aws_graph.geojson";
 
   rclcpp::NodeOptions options;
   auto server = std::make_shared<RouteServerWrapper>(options);
-  server->declare_parameter("graph_filepath", rclcpp::ParameterValue(real_filepath));
+  server->declare_parameter("graph_filepath", rclcpp::ParameterValue(real_filepath.string()));
   auto node_thread = std::make_unique<nav2::NodeThread>(server);
   auto node2 = std::make_shared<rclcpp::Node>("my_node2");
 
@@ -182,13 +184,15 @@ TEST(RouteServerTest, test_set_srv)
   EXPECT_FALSE(resp->success);
 
   auto req2 = std::make_shared<nav2_msgs::srv::SetRouteGraph::Request>();
-  req2->graph_filepath = real_filepath;
+  req2->graph_filepath = real_filepath.string();
   auto resp2 = srv_client.invoke(req2, std::chrono::nanoseconds(1000000000));
   EXPECT_TRUE(resp2->success);
 
   auto req3 = std::make_shared<nav2_msgs::srv::SetRouteGraph::Request>();
-  req3->graph_filepath = ament_index_cpp::get_package_share_directory("nav2_route") +
-    "/test/test_graphs/invalid.json";
+  std::filesystem::path invalid_filepath;
+  ament_index_cpp::get_package_share_directory("nav2_route", invalid_filepath);
+  invalid_filepath = invalid_filepath / "test" / "test_graphs" / "invalid.json";
+  req3->graph_filepath = invalid_filepath.string();
   auto resp3 = srv_client.invoke(req3, std::chrono::nanoseconds(1000000000));
   EXPECT_FALSE(resp3->success);
 
@@ -278,12 +282,14 @@ TEST(RouteServerTest, test_request_valid)
 
 TEST(RouteServerTest, test_complete_action_api)
 {
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_route");
-  std::string real_file = pkg_share_dir + "/graphs/aws_graph.geojson";
+  std::filesystem::path pkg_share_dir;
+
+  ament_index_cpp::get_package_share_directory("nav2_route", pkg_share_dir);
+  std::filesystem::path real_file = pkg_share_dir / "graphs" / "aws_graph.geojson";
 
   rclcpp::NodeOptions options;
   auto server = std::make_shared<RouteServerWrapper>(options);
-  server->declare_parameter("graph_filepath", rclcpp::ParameterValue(real_file));
+  server->declare_parameter("graph_filepath", rclcpp::ParameterValue(real_file.string()));
   auto node_thread = std::make_unique<nav2::NodeThread>(server);
   server->startup();
 
@@ -353,12 +359,13 @@ TEST(RouteServerTest, test_complete_action_api)
 
 TEST(RouteServerTest, test_error_codes)
 {
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_route");
-  std::string real_file = pkg_share_dir + "/test/test_graphs/error_codes.geojson";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_route", pkg_share_dir);
+  std::filesystem::path real_file = pkg_share_dir / "test" / "test_graphs" / "error_codes.geojson";
 
   rclcpp::NodeOptions options;
   auto server = std::make_shared<RouteServerWrapper>(options);
-  server->declare_parameter("graph_filepath", rclcpp::ParameterValue(real_file));
+  server->declare_parameter("graph_filepath", rclcpp::ParameterValue(real_file.string()));
   auto node_thread = std::make_unique<nav2::NodeThread>(server);
   server->startup();
 
diff --git a/nav2_rviz_plugins/src/nav2_panel.cpp b/nav2_rviz_plugins/src/nav2_panel.cpp
index dd006e9fe88..b97c567471e 100644
--- a/nav2_rviz_plugins/src/nav2_panel.cpp
+++ b/nav2_rviz_plugins/src/nav2_panel.cpp
@@ -32,7 +32,6 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/load_resource.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "yaml-cpp/yaml.h"
 #include "geometry_msgs/msg/pose.hpp"
 
diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp
index 413cb1c66f2..ff397cde14b 100644
--- a/nav2_smac_planner/src/smac_planner_lattice.cpp
+++ b/nav2_smac_planner/src/smac_planner_lattice.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
+#include <filesystem>
 #include <string>
 #include <memory>
 #include <vector>
@@ -83,10 +84,12 @@ void SmacPlannerLattice::configure(
   node->get_parameter(name + ".smooth_path", smooth_path);
 
   // Default to a well rounded model: 16 bin, 0.4m turning radius, ackermann model
+  std::filesystem::path filepath;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", filepath);
+  filepath = filepath / "sample_primitives" / "5cm_resolution" / "0.5m_turning_radius" /
+    "ackermann" / "output.json";
   nav2::declare_parameter_if_not_declared(
-    node, name + ".lattice_filepath", rclcpp::ParameterValue(
-      ament_index_cpp::get_package_share_directory("nav2_smac_planner") +
-      "/sample_primitives/5cm_resolution/0.5m_turning_radius/ackermann/output.json"));
+    node, name + ".lattice_filepath", rclcpp::ParameterValue(filepath.string()));
   node->get_parameter(name + ".lattice_filepath", _search_info.lattice_filepath);
   nav2::declare_parameter_if_not_declared(
     node, name + ".cache_obstacle_heuristic", rclcpp::ParameterValue(false));
diff --git a/nav2_smac_planner/test/test_a_star.cpp b/nav2_smac_planner/test/test_a_star.cpp
index fe032738ba2..a9242204888 100644
--- a/nav2_smac_planner/test/test_a_star.cpp
+++ b/nav2_smac_planner/test/test_a_star.cpp
@@ -13,6 +13,7 @@
 // limitations under the License. Reserved.
 
 #include <math.h>
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <vector>
@@ -304,10 +305,11 @@ TEST(AStarTest, test_a_star_lattice)
   info.reverse_penalty = 2.0;
   info.retrospective_penalty = 0.1;
   info.analytic_expansion_ratio = 3.5;
-  info.lattice_filepath =
-    ament_index_cpp::get_package_share_directory("nav2_smac_planner") +
-    "/sample_primitives/5cm_resolution/0.5m_turning_radius/ackermann" +
-    "/output.json";
+  std::filesystem::path filepath;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", filepath);
+  filepath = filepath / "sample_primitives" / "5cm_resolution" / "0.5m_turning_radius" /
+    "ackermann" / "output.json";
+  info.lattice_filepath = filepath.string();
   info.minimum_turning_radius = 8;  // in grid coordinates 0.4/0.05
   info.analytic_expansion_max_length = 20.0;  // in grid coordinates
   unsigned int size_theta = 16;
diff --git a/nav2_smac_planner/test/test_nodelattice.cpp b/nav2_smac_planner/test/test_nodelattice.cpp
index 93efec2fac1..1dd96e99462 100644
--- a/nav2_smac_planner/test/test_nodelattice.cpp
+++ b/nav2_smac_planner/test/test_nodelattice.cpp
@@ -13,6 +13,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
+#include <filesystem>
 #include <fstream>
 #include <string>
 #include <vector>
@@ -28,12 +29,13 @@ using json = nlohmann::json;
 
 TEST(NodeLatticeTest, parser_test)
 {
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner");
-  std::string filePath =
-    pkg_share_dir +
-    "/sample_primitives/5cm_resolution/0.5m_turning_radius/ackermann" +
-    "/output.json";
-  std::ifstream myJsonFile(filePath);
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", pkg_share_dir);
+  std::filesystem::path filePath =
+    pkg_share_dir /
+    "sample_primitives" / "5cm_resolution" / "0.5m_turning_radius" / "ackermann" /
+    "output.json";
+  std::ifstream myJsonFile(filePath.string());
 
   ASSERT_TRUE(myJsonFile.is_open());
 
@@ -86,11 +88,12 @@ TEST(NodeLatticeTest, parser_test)
 
 TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing)
 {
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner");
-  std::string filePath =
-    pkg_share_dir +
-    "/sample_primitives/5cm_resolution/0.5m_turning_radius/ackermann" +
-    "/output.json";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", pkg_share_dir);
+  std::filesystem::path filePath =
+    pkg_share_dir /
+    "sample_primitives" / "5cm_resolution" / "0.5m_turning_radius" / "ackermann" /
+    "output.json";
 
   nav2_smac_planner::SearchInfo info;
   info.minimum_turning_radius = 1.1;
@@ -100,7 +103,7 @@ TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing)
   info.cost_penalty = 1;
   info.retrospective_penalty = 0.0;
   info.analytic_expansion_ratio = 1;
-  info.lattice_filepath = filePath;
+  info.lattice_filepath = filePath.string();
   info.cache_obstacle_heuristic = true;
   info.allow_reverse_expansion = true;
 
@@ -132,11 +135,12 @@ TEST(NodeLatticeTest, test_node_lattice_neighbors_and_parsing)
 
 TEST(NodeLatticeTest, test_node_lattice_conversions)
 {
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner");
-  std::string filePath =
-    pkg_share_dir +
-    "/sample_primitives/5cm_resolution/0.5m_turning_radius/ackermann" +
-    "/output.json";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", pkg_share_dir);
+  std::filesystem::path filePath =
+    pkg_share_dir /
+    "sample_primitives" / "5cm_resolution" / "0.5m_turning_radius" / "ackermann" /
+    "output.json";
 
   nav2_smac_planner::SearchInfo info;
   info.minimum_turning_radius = 1.1;
@@ -146,7 +150,7 @@ TEST(NodeLatticeTest, test_node_lattice_conversions)
   info.cost_penalty = 1;
   info.retrospective_penalty = 0.0;
   info.analytic_expansion_ratio = 1;
-  info.lattice_filepath = filePath;
+  info.lattice_filepath = filePath.string();
   info.cache_obstacle_heuristic = true;
 
   unsigned int x = 100;
@@ -171,11 +175,12 @@ TEST(NodeLatticeTest, test_node_lattice_conversions)
 TEST(NodeLatticeTest, test_node_lattice)
 {
   auto node = std::make_shared<nav2::LifecycleNode>("test");
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner");
-  std::string filePath =
-    pkg_share_dir +
-    "/sample_primitives/5cm_resolution/0.5m_turning_radius/ackermann" +
-    "/output.json";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", pkg_share_dir);
+  std::filesystem::path filePath =
+    pkg_share_dir /
+    "sample_primitives" / "5cm_resolution" / "0.5m_turning_radius" / "ackermann" /
+    "output.json";
 
   nav2_smac_planner::SearchInfo info;
   info.minimum_turning_radius = 1.1;
@@ -185,7 +190,7 @@ TEST(NodeLatticeTest, test_node_lattice)
   info.cost_penalty = 1;
   info.retrospective_penalty = 0.1;
   info.analytic_expansion_ratio = 1;
-  info.lattice_filepath = filePath;
+  info.lattice_filepath = filePath.string();
   info.cache_obstacle_heuristic = true;
   info.allow_reverse_expansion = true;
 
@@ -255,11 +260,12 @@ TEST(NodeLatticeTest, test_node_lattice)
 TEST(NodeLatticeTest, test_get_neighbors)
 {
   auto lnode = std::make_shared<nav2::LifecycleNode>("test");
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner");
-  std::string filePath =
-    pkg_share_dir +
-    "/sample_primitives/5cm_resolution/0.5m_turning_radius/ackermann" +
-    "/output.json";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", pkg_share_dir);
+  std::filesystem::path filePath =
+    pkg_share_dir /
+    "sample_primitives" / "5cm_resolution" / "0.5m_turning_radius" / "ackermann" /
+    "output.json";
 
   nav2_smac_planner::SearchInfo info;
   info.minimum_turning_radius = 1.1;
@@ -269,7 +275,7 @@ TEST(NodeLatticeTest, test_get_neighbors)
   info.cost_penalty = 1;
   info.analytic_expansion_ratio = 1;
   info.retrospective_penalty = 0.0;
-  info.lattice_filepath = filePath;
+  info.lattice_filepath = filePath.string();
   info.cache_obstacle_heuristic = true;
   info.allow_reverse_expansion = true;
 
@@ -313,11 +319,12 @@ TEST(NodeLatticeTest, test_get_neighbors)
 TEST(NodeLatticeTest, test_node_lattice_custom_footprint)
 {
   auto lnode = std::make_shared<nav2::LifecycleNode>("test");
-  std::string pkg_share_dir = ament_index_cpp::get_package_share_directory("nav2_smac_planner");
-  std::string filePath =
-    pkg_share_dir +
-    "/sample_primitives/5cm_resolution/0.5m_turning_radius/ackermann" +
-    "/output.json";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", pkg_share_dir);
+  std::filesystem::path filePath =
+    pkg_share_dir /
+    "sample_primitives" / "5cm_resolution" / "0.5m_turning_radius" / "ackermann" /
+    "output.json";
 
   nav2_smac_planner::SearchInfo info;
   info.minimum_turning_radius = 0.5;
@@ -327,7 +334,7 @@ TEST(NodeLatticeTest, test_node_lattice_custom_footprint)
   info.cost_penalty = 1;
   info.retrospective_penalty = 0.1;
   info.analytic_expansion_ratio = 1;
-  info.lattice_filepath = filePath;
+  info.lattice_filepath = filePath.string();
   info.cache_obstacle_heuristic = true;
   info.allow_reverse_expansion = true;
 
diff --git a/nav2_smac_planner/test/test_smac_lattice.cpp b/nav2_smac_planner/test/test_smac_lattice.cpp
index e8d0a38945f..2d985de73bf 100644
--- a/nav2_smac_planner/test/test_smac_lattice.cpp
+++ b/nav2_smac_planner/test/test_smac_lattice.cpp
@@ -13,6 +13,7 @@
 // limitations under the License. Reserved.
 
 #include <math.h>
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <vector>
@@ -216,12 +217,15 @@ TEST(SmacTest, test_smac_lattice_reconfigure)
   // of heading, test output includes number of heading 15
   parameters.clear();
 
+  std::filesystem::path pkg_dir;
+  ament_index_cpp::get_package_share_directory("nav2_smac_planner", pkg_dir);
+  std::filesystem::path filepath = pkg_dir / "sample_primitives" / "test" / "output.json";
+
   parameters.push_back(rclcpp::Parameter("test.coarse_search_resolution", 4));
   parameters.push_back(
     rclcpp::Parameter(
       "test.lattice_filepath",
-      ament_index_cpp::get_package_share_directory("nav2_smac_planner") +
-      "/sample_primitives/test/output.json"));
+      filepath.string()));
   EXPECT_NO_THROW(planner->callDynamicParams(parameters));
   EXPECT_EQ(planner->getCoarseSearchResolution(), 1);
 
diff --git a/nav2_smac_planner/test/test_smoother.cpp b/nav2_smac_planner/test/test_smoother.cpp
index b34246beae9..94bada76dc5 100644
--- a/nav2_smac_planner/test/test_smoother.cpp
+++ b/nav2_smac_planner/test/test_smoother.cpp
@@ -27,7 +27,6 @@
 #include "nav2_smac_planner/a_star.hpp"
 #include "nav2_smac_planner/collision_checker.hpp"
 #include "nav2_smac_planner/smoother.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 
 using namespace nav2_smac_planner;  // NOLINT
 
diff --git a/nav2_smoother/test/test_savitzky_golay_smoother.cpp b/nav2_smoother/test/test_savitzky_golay_smoother.cpp
index 2bea24ae26e..eb122d6a09b 100644
--- a/nav2_smoother/test/test_savitzky_golay_smoother.cpp
+++ b/nav2_smoother/test/test_savitzky_golay_smoother.cpp
@@ -28,7 +28,6 @@
 #include "nav2_msgs/msg/costmap.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "nav2_smoother/savitzky_golay_smoother.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 
 using namespace nav2_smoother;  // NOLINT
 using namespace std::chrono_literals;  // NOLINT
diff --git a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp
index 8441d50cc57..54c826f7871 100644
--- a/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp
+++ b/nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp
@@ -254,9 +254,9 @@ std::shared_ptr<BehaviorTreeHandler> BehaviorTreeTestFixture::bt_handler = nullp
 TEST_F(BehaviorTreeTestFixture, TestBTXMLFiles)
 {
   // Get the BT root directory
-  const auto root_dir = std::filesystem::path(
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator")
-    ) / "behavior_trees";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
+  const auto root_dir = pkg_share_dir / "behavior_trees";
 
   ASSERT_TRUE(std::filesystem::exists(root_dir));
   ASSERT_TRUE(std::filesystem::is_directory(root_dir));
@@ -670,9 +670,9 @@ TEST_F(BehaviorTreeTestFixture, TestSkipFilesWithMissingID) {
 TEST_F(BehaviorTreeTestFixture, TestAllSuccess)
 {
   // Load behavior tree from file
-  const auto root_dir = std::filesystem::path(
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator")
-    ) / "behavior_trees";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
+  const auto root_dir = pkg_share_dir / "behavior_trees";
   auto bt_file = root_dir / "navigate_to_pose_w_replanning_and_recovery.xml";
 
   std::vector<std::string> search_directories = {root_dir.string()};
@@ -721,9 +721,9 @@ TEST_F(BehaviorTreeTestFixture, TestAllSuccess)
 TEST_F(BehaviorTreeTestFixture, TestAllFailure)
 {
   // Load behavior tree from file
-  const auto root_dir = std::filesystem::path(
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator")
-    ) / "behavior_trees";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
+  const auto root_dir = pkg_share_dir / "behavior_trees";
   auto bt_file = root_dir / "navigate_to_pose_w_replanning_and_recovery.xml";
 
   std::vector<std::string> search_directories = {root_dir.string()};
@@ -781,9 +781,9 @@ TEST_F(BehaviorTreeTestFixture, TestAllFailure)
 TEST_F(BehaviorTreeTestFixture, TestNavigateSubtreeRecoveries)
 {
   // Load behavior tree from file
-  const auto root_dir = std::filesystem::path(
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator")
-    ) / "behavior_trees";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
+  const auto root_dir = pkg_share_dir / "behavior_trees";
   auto bt_file = root_dir / "navigate_to_pose_w_replanning_and_recovery.xml";
 
   std::vector<std::string> search_directories = {root_dir.string()};
@@ -844,9 +844,9 @@ TEST_F(BehaviorTreeTestFixture, TestNavigateSubtreeRecoveries)
 TEST_F(BehaviorTreeTestFixture, TestNavigateRecoverySimple)
 {
   // Load behavior tree from file
-  const auto root_dir = std::filesystem::path(
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator")
-    ) / "behavior_trees";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
+  const auto root_dir = pkg_share_dir / "behavior_trees";
   auto bt_file = root_dir / "navigate_to_pose_w_replanning_and_recovery.xml";
 
   std::vector<std::string> search_directories = {root_dir.string()};
@@ -946,9 +946,9 @@ TEST_F(BehaviorTreeTestFixture, TestNavigateRecoverySimple)
 TEST_F(BehaviorTreeTestFixture, TestNavigateRecoveryComplex)
 {
   // Load behavior tree from file
-  const auto root_dir = std::filesystem::path(
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator")
-    ) / "behavior_trees";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
+  const auto root_dir = pkg_share_dir / "behavior_trees";
   auto bt_file = root_dir / "navigate_to_pose_w_replanning_and_recovery.xml";
 
   std::vector<std::string> search_directories = {root_dir.string()};
@@ -1018,9 +1018,9 @@ TEST_F(BehaviorTreeTestFixture, TestNavigateRecoveryComplex)
 TEST_F(BehaviorTreeTestFixture, TestRecoverySubtreeGoalUpdated)
 {
   // Load behavior tree from file
-  const auto root_dir = std::filesystem::path(
-    ament_index_cpp::get_package_share_directory("nav2_bt_navigator")
-    ) / "behavior_trees";
+  std::filesystem::path pkg_share_dir;
+  ament_index_cpp::get_package_share_directory("nav2_bt_navigator", pkg_share_dir);
+  const auto root_dir = pkg_share_dir / "behavior_trees";
   auto bt_file = root_dir / "navigate_to_pose_w_replanning_and_recovery.xml";
 
   std::vector<std::string> search_directories = {root_dir.string()};