diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
index 5cf28ac604..bb6add77ef 100644
--- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
+++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py
@@ -37,7 +37,7 @@ def __init__(self):
         # Read all positions from parameters
         self.goals = []
         for name in goal_names:
-            self.declare_parameter(name)
+            self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)
             goal = self.get_parameter(name).value
             if goal is None or len(goal) == 0:
                 raise Exception(f'Values for goal "{name}" not set!')
diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
index cb66f58468..27f28da1be 100644
--- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
+++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py
@@ -18,7 +18,6 @@
 import rclpy
 from rclpy.node import Node
 from builtin_interfaces.msg import Duration
-from rcl_interfaces.msg import ParameterDescriptor
 
 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
 from sensor_msgs.msg import JointState
@@ -67,8 +66,7 @@ def __init__(self):
         # Read all positions from parameters
         self.goals = []  # List of JointTrajectoryPoint
         for name in goal_names:
-            self.declare_parameter(name, descriptor=ParameterDescriptor(dynamic_typing=True))
-
+            self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)
             point = JointTrajectoryPoint()
 
             def get_sub_param(sub_param):