diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
index 0e20792c72..7667d3081f 100644
--- a/nav2_system_tests/src/costmap_filters/keepout_params.yaml
+++ b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
@@ -119,6 +119,7 @@ controller_server:
       plugin: "dwb_core::DWBLocalPlanner"
       debug_trajectory_details: True
       prune_distance: 1.0
+      forward_prune_distance: 1.0
       min_vel_x: 0.0
       min_vel_y: 0.0
       max_vel_x: 0.26
diff --git a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
index 5e21a7241a..61c5392137 100755
--- a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
+++ b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
@@ -48,7 +48,7 @@ def generate_launch_description():
     param_substitutions = {
         'planner_server.ros__parameters.GridBased.use_astar': os.getenv('ASTAR'),
         'filter_mask_server.ros__parameters.yaml_filename': filter_mask_file,
-        'yaml_filename': filter_mask_file}
+        'map_server.ros__parameters.yaml_filename': map_yaml_file}
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key='',
diff --git a/nav2_system_tests/src/costmap_filters/test_speed_launch.py b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
index 433dbc184e..971fcdd5e0 100755
--- a/nav2_system_tests/src/costmap_filters/test_speed_launch.py
+++ b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
@@ -47,7 +47,7 @@ def generate_launch_description():
     param_substitutions = {
         'planner_server.ros__parameters.GridBased.use_astar': os.getenv('ASTAR'),
         'filter_mask_server.ros__parameters.yaml_filename': filter_mask_file,
-        'yaml_filename': filter_mask_file}
+        'map_server.ros__parameters.yaml_filename': map_yaml_file}
     configured_params = RewrittenYaml(
         source_file=params_file,
         root_key='',