diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt
index 4ec4da305ca35..9912f72f36510 100644
--- a/control/trajectory_follower_nodes/CMakeLists.txt
+++ b/control/trajectory_follower_nodes/CMakeLists.txt
@@ -79,9 +79,9 @@ if(BUILD_TESTING)
   target_link_libraries(${TRAJECTORY_FOLLOWER_NODES_TEST} ${LATLON_MUXER_NODE} ${LATERAL_CONTROLLER_NODE} ${LONGITUDINAL_CONTROLLER_NODE})
 
   #find_package(autoware_testing REQUIRED)
-  #add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe PARAM_FILENAME latlon_muxer_defaults.yaml)
-  #add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe PARAM_FILENAME lateral_controller_defaults.yaml)
-  #add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe PARAM_FILENAME longitudinal_controller_defaults.yaml)
+  #add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe PARAM_FILENAME latlon_muxer_defaults.param.yaml)
+  #add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe PARAM_FILENAME lateral_controller_defaults.param.yaml)
+  #add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe PARAM_FILENAME longitudinal_controller_defaults.param.yaml)
 endif()
 
 ament_auto_package(
diff --git a/control/trajectory_follower_nodes/design/lateral_controller-design.md b/control/trajectory_follower_nodes/design/lateral_controller-design.md
index 74d409a9c4419..d4955e2d26f10 100644
--- a/control/trajectory_follower_nodes/design/lateral_controller-design.md
+++ b/control/trajectory_follower_nodes/design/lateral_controller-design.md
@@ -48,7 +48,7 @@ Inputs
 
 ### Parameter description
 
-The default parameters defined in `param/lateral_controller_defaults.yaml` are adjusted to the
+The default parameters defined in `param/lateral_controller_defaults.param.yaml` are adjusted to the
 AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 
 | Name                                         | Type   | Description                                                                                                                                       | Default value |
diff --git a/control/trajectory_follower_nodes/design/longitudinal_controller-design.md b/control/trajectory_follower_nodes/design/longitudinal_controller-design.md
index 66af8a2f1ca19..3348257181ca9 100644
--- a/control/trajectory_follower_nodes/design/longitudinal_controller-design.md
+++ b/control/trajectory_follower_nodes/design/longitudinal_controller-design.md
@@ -143,7 +143,7 @@ In this controller, the predicted ego-velocity and the target velocity after the
 
 ### Parameter description
 
-The default parameters defined in `param/lateral_controller_defaults.yaml` are adjusted to the
+The default parameters defined in `param/lateral_controller_defaults.param.yaml` are adjusted to the
 AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 
 | Name                                 | Type   | Description                                                                                                                                                                             | Default value |
diff --git a/control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml b/control/trajectory_follower_nodes/param/lateral_controller_defaults.param.yaml
similarity index 100%
rename from control/trajectory_follower_nodes/param/lateral_controller_defaults.yaml
rename to control/trajectory_follower_nodes/param/lateral_controller_defaults.param.yaml
diff --git a/control/trajectory_follower_nodes/param/latlon_muxer_defaults.yaml b/control/trajectory_follower_nodes/param/latlon_muxer_defaults.param.yaml
similarity index 100%
rename from control/trajectory_follower_nodes/param/latlon_muxer_defaults.yaml
rename to control/trajectory_follower_nodes/param/latlon_muxer_defaults.param.yaml
diff --git a/control/trajectory_follower_nodes/param/longitudinal_controller_defaults.yaml b/control/trajectory_follower_nodes/param/longitudinal_controller_defaults.param.yaml
similarity index 100%
rename from control/trajectory_follower_nodes/param/longitudinal_controller_defaults.yaml
rename to control/trajectory_follower_nodes/param/longitudinal_controller_defaults.param.yaml
diff --git a/control/trajectory_follower_nodes/param/test_vehicle_info.yaml b/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml
similarity index 100%
rename from control/trajectory_follower_nodes/param/test_vehicle_info.yaml
rename to control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml
diff --git a/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp b/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp
index 886671d39545d..ef1198bc72012 100644
--- a/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp
+++ b/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp
@@ -50,8 +50,8 @@ std::shared_ptr<LateralController> makeLateralNode()
   const auto share_dir = ament_index_cpp::get_package_share_directory("trajectory_follower_nodes");
   rclcpp::NodeOptions node_options;
   node_options.arguments(
-    {"--ros-args", "--params-file", share_dir + "/param/lateral_controller_defaults.yaml",
-     "--params-file", share_dir + "/param/test_vehicle_info.yaml"});
+    {"--ros-args", "--params-file", share_dir + "/param/lateral_controller_defaults.param.yaml",
+     "--params-file", share_dir + "/param/test_vehicle_info.param.yaml"});
   std::shared_ptr<LateralController> node = std::make_shared<LateralController>(node_options);
 
   // Enable all logging in the node
diff --git a/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp b/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp
index b7caaec5f5e0b..2130253c2d1df 100644
--- a/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp
+++ b/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp
@@ -46,8 +46,9 @@ std::shared_ptr<LongitudinalController> makeLongitudinalNode()
   const auto share_dir = ament_index_cpp::get_package_share_directory("trajectory_follower_nodes");
   rclcpp::NodeOptions node_options;
   node_options.arguments(
-    {"--ros-args", "--params-file", share_dir + "/param/longitudinal_controller_defaults.yaml",
-     "--params-file", share_dir + "/param/test_vehicle_info.yaml"});
+    {"--ros-args", "--params-file",
+     share_dir + "/param/longitudinal_controller_defaults.param.yaml", "--params-file",
+     share_dir + "/param/test_vehicle_info.param.yaml"});
   std::shared_ptr<LongitudinalController> node =
     std::make_shared<LongitudinalController>(node_options);