diff --git a/rcl_yaml_param_parser/src/impl/types.h b/rcl_yaml_param_parser/src/impl/types.h
index c9ca94a818..79d073c3be 100644
--- a/rcl_yaml_param_parser/src/impl/types.h
+++ b/rcl_yaml_param_parser/src/impl/types.h
@@ -28,7 +28,7 @@ extern "C"
 #endif
 
 #define PARAMS_KEY "ros__parameters"
-#define PARAMS_DESCRIPTORS_KEY "parameter__descriptors"
+#define PARAMS_DESCRIPTORS_KEY "ros__parameter_descriptors"
 #define NODE_NS_SEPERATOR "/"
 #define PARAMETER_NS_SEPERATOR "."
 
diff --git a/rcl_yaml_param_parser/test/assign_param_in_descriptors.yaml b/rcl_yaml_param_parser/test/assign_param_in_descriptors.yaml
index 7702e714e9..73b7a461b4 100644
--- a/rcl_yaml_param_parser/test/assign_param_in_descriptors.yaml
+++ b/rcl_yaml_param_parser/test/assign_param_in_descriptors.yaml
@@ -1,5 +1,5 @@
 node1:
-  parameter__descriptors:
+  ros__parameter_descriptors:
     bar: 42
     foo:
       read_only: true
diff --git a/rcl_yaml_param_parser/test/correct_param_descriptors.yaml b/rcl_yaml_param_parser/test/correct_param_descriptors.yaml
index 40072f394a..245f3ae0b8 100644
--- a/rcl_yaml_param_parser/test/correct_param_descriptors.yaml
+++ b/rcl_yaml_param_parser/test/correct_param_descriptors.yaml
@@ -3,7 +3,7 @@
 
 node_ns:
   node1:
-    parameter__descriptors:
+    ros__parameter_descriptors:
       param1:
         type: 2
         min_value: 5
@@ -23,7 +23,7 @@ node_ns:
       foo:
         bar: 10
         baz: "hello"
-    parameter__descriptors:
+    ros__parameter_descriptors:
       foo:
         bar:
           description: "namespaced parameter"
diff --git a/rcl_yaml_param_parser/test/invalid_param_descriptor_key.yaml b/rcl_yaml_param_parser/test/invalid_param_descriptor_key.yaml
index 104d4e5b73..a5f7d6b387 100644
--- a/rcl_yaml_param_parser/test/invalid_param_descriptor_key.yaml
+++ b/rcl_yaml_param_parser/test/invalid_param_descriptor_key.yaml
@@ -1,5 +1,5 @@
 node1:
-  parameter__descriptors:
+  ros__parameter_descriptors:
     foo:
       read_only: true
       invalid_description: "This is an invalid descriptor key"
diff --git a/rcl_yaml_param_parser/test/invalid_param_descriptor_type.yaml b/rcl_yaml_param_parser/test/invalid_param_descriptor_type.yaml
index a55510dde5..01c92c263d 100644
--- a/rcl_yaml_param_parser/test/invalid_param_descriptor_type.yaml
+++ b/rcl_yaml_param_parser/test/invalid_param_descriptor_type.yaml
@@ -1,4 +1,4 @@
 node1:
-  parameter__descriptors:
+  ros__parameter_descriptors:
     foo:
       min_value: "5"
diff --git a/rcl_yaml_param_parser/test/no_value_descriptor.yaml b/rcl_yaml_param_parser/test/no_value_descriptor.yaml
index 5b6bc89c8c..d78c3fb521 100644
--- a/rcl_yaml_param_parser/test/no_value_descriptor.yaml
+++ b/rcl_yaml_param_parser/test/no_value_descriptor.yaml
@@ -1,4 +1,4 @@
 node1:
-  parameter__descriptors:
+  ros__parameter_descriptors:
     foo:
       description:
diff --git a/rcl_yaml_param_parser/test/overlay_descriptors.yaml b/rcl_yaml_param_parser/test/overlay_descriptors.yaml
index 34e7555f50..953819d19e 100644
--- a/rcl_yaml_param_parser/test/overlay_descriptors.yaml
+++ b/rcl_yaml_param_parser/test/overlay_descriptors.yaml
@@ -1,12 +1,12 @@
 node_ns:
   node1:
-    parameter__descriptors:
+    ros__parameter_descriptors:
       param1:
         max_value: 200
       param2:
         min_value: -2.0
   node2:
-    parameter__descriptors:
+    ros__parameter_descriptors:
       foo:
         bar:
           read_only: true