diff --git a/nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp b/nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp
index 445f2572328..74f51d84085 100644
--- a/nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp
+++ b/nav2_route/src/plugins/edge_cost_functions/costmap_scorer.cpp
@@ -34,19 +34,19 @@ void CostmapScorer::configure(
   // Find whether to use average or maximum cost values
   nav2_util::declare_parameter_if_not_declared(
     node, getName() + ".use_maximum", rclcpp::ParameterValue(true));
-  use_max_ = static_cast<float>(node->get_parameter(getName() + ".use_maximum").as_bool());
+  use_max_ = node->get_parameter(getName() + ".use_maximum").as_bool();
 
   // Edge is invalid if its in collision
   nav2_util::declare_parameter_if_not_declared(
     node, getName() + ".invalid_on_collision", rclcpp::ParameterValue(true));
   invalid_on_collision_ =
-    static_cast<float>(node->get_parameter(getName() + ".invalid_on_collision").as_bool());
+    node->get_parameter(getName() + ".invalid_on_collision").as_bool();
 
   // Edge is invalid if edge is off the costmap
   nav2_util::declare_parameter_if_not_declared(
     node, getName() + ".invalid_off_map", rclcpp::ParameterValue(true));
   invalid_off_map_ =
-    static_cast<float>(node->get_parameter(getName() + ".invalid_off_map").as_bool());
+    node->get_parameter(getName() + ".invalid_off_map").as_bool();
 
   // Max cost to be considered valid
   nav2_util::declare_parameter_if_not_declared(
diff --git a/nav2_route/src/plugins/route_operations/adjust_speed_limit.cpp b/nav2_route/src/plugins/route_operations/adjust_speed_limit.cpp
index 46802194e29..835c1b57044 100644
--- a/nav2_route/src/plugins/route_operations/adjust_speed_limit.cpp
+++ b/nav2_route/src/plugins/route_operations/adjust_speed_limit.cpp
@@ -36,7 +36,7 @@ void AdjustSpeedLimit::configure(
 
   nav2_util::declare_parameter_if_not_declared(
     node, getName() + ".speed_limit_topic", rclcpp::ParameterValue("speed_limit"));
-  std::string topic = node->get_parameter(getName() + ".speed_tag").as_string();
+  std::string topic = node->get_parameter(getName() + ".speed_limit_topic").as_string();
 
   speed_limit_pub_ = node->create_publisher<nav2_msgs::msg::SpeedLimit>(topic, 1);
   speed_limit_pub_->on_activate();