How to use route server when route behavior trees are not included

[Russ76]

Bug report

Required Info:

• Operating System:
  Ubuntu 24.04
• Computer:
  HP Pavilion laptop with Ryzen 7 and 16 Gig mem
• ROS2 Version:
  Jazzy
• Version or commit hash:
  russ@russ-HP-Pavilion-Laptop-15-eh0xxx:~$ dpkg-query --show "ros-jazzy-nav2-*"
  ros-jazzy-nav2-amcl 1.3.12-1noble.20260615.153115
  ros-jazzy-nav2-behavior-tree 1.3.12-1noble.20260615.162300
  ros-jazzy-nav2-behaviors 1.3.12-1noble.20260615.170333
  ros-jazzy-nav2-bringup 1.3.12-1noble.20260616.082701
  ros-jazzy-nav2-bt-navigator 1.3.12-1noble.20260615.165211
  ros-jazzy-nav2-collision-monitor 1.3.12-1noble.20260615.160103
  ros-jazzy-nav2-common 1.3.12-1noble.20260615.145421
  ros-jazzy-nav2-constrained-smoother 1.3.12-1noble.20260615.172212
  ros-jazzy-nav2-controller 1.3.12-1noble.20260615.165600
  ros-jazzy-nav2-core 1.3.12-1noble.20260615.164834
  ros-jazzy-nav2-costmap-2d 1.3.12-1noble.20260615.154707
  ros-jazzy-nav2-dwb-controller 1.3.12-1noble.20260615.181312
  ros-jazzy-nav2-graceful-controller 1.3.12-1noble.20260615.170042
  ros-jazzy-nav2-lifecycle-manager 1.3.12-1noble.20260615.152740
  ros-jazzy-nav2-map-server 1.3.12-1noble.20260615.153120
  ros-jazzy-nav2-minimal-tb3-sim 1.0.1-1noble.20260616.074421
  ros-jazzy-nav2-minimal-tb4-description 1.0.1-1noble.20260615.164333
  ros-jazzy-nav2-minimal-tb4-sim 1.0.1-1noble.20260615.175354
  ros-jazzy-nav2-mppi-controller 1.3.12-1noble.20260615.165555
  ros-jazzy-nav2-msgs 1.3.12-1noble.20260615.145957
  ros-jazzy-nav2-navfn-planner 1.3.12-1noble.20260615.170058
  ros-jazzy-nav2-planner 1.3.12-1noble.20260615.170058
  ros-jazzy-nav2-regulated-pure-pursuit-controller 1.3.12-1noble.20260615.170110
  ros-jazzy-nav2-rotation-shim-controller 1.3.12-1noble.20260615.170216
  ros-jazzy-nav2-route 1.3.12-1noble.20260615.165604
  ros-jazzy-nav2-rviz-plugins 1.3.12-1noble.20260615.171114
  ros-jazzy-nav2-simple-commander 1.3.12-1noble.20260615.151451
  ros-jazzy-nav2-smac-planner 1.3.12-1noble.20260615.170444
  ros-jazzy-nav2-smoother 1.3.12-1noble.20260615.165713
  ros-jazzy-nav2-theta-star-planner 1.3.12-1noble.20260615.172312
  ros-jazzy-nav2-util 1.3.12-1noble.20260615.152147
  ros-jazzy-nav2-velocity-smoother 1.3.12-1noble.20260615.153210
  ros-jazzy-nav2-voxel-grid 1.3.12-1noble.20260615.154410
  ros-jazzy-nav2-waypoint-follower 1.3.12-1noble.20260615.170606
• DDS implementation:
  Fast-RTPS,

Steps to reproduce issue

Trying to run route server to move real robot that also runs Ros2 Jazzy
Navigation works with Mppi or Rpp routines
Want to use "navigate on route graph w recovery.xml"

Expected behavior

Behavior tree file will be called and run

Actual behavior

Program fails because file is not included

Reproduction instructions

Additional information

[component_container_isolated-1] [INFO] [1785869423.728145163] [bt_navigator]: Creating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator
[component_container_isolated-1] [FATAL] [1785869423.789470557] [bt_navigator]: Failed to create navigator id navigate_to_pose. Exception: Could not load library: libnav2_compute_route_action_bt_node.so: cannot open shared object file: No such file or directory

[SteveMacenski]

Show me your BT configuration file and your nav2 yaml file for the BT navigator

Note that its looking for libnav2_compute_route_action_bt_node but it appears to be called nav2_compute_route_bt_node in the cmakelists https://github.com/ros-navigation/navigation2/blob/jazzy/nav2_behavior_tree/CMakeLists.txt#L233. So I'm pretty sure you just have a typo somewhere

We even have unit tests for the compute route BT node in Jazzy (https://github.com/ros-navigation/navigation2/blob/jazzy/nav2_behavior_tree/test/plugins/action/test_compute_route_action.cpp) which further makes me think there's probably just a simple fix on your side :-)

[Russ76]

OK, these are long!

amcl:
ros__parameters:
alpha1: 0.2
alpha2: 0.2
alpha3: 0.2
alpha4: 0.2
alpha5: 0.2
base_frame_id: "base_footprint"
beam_skip_distance: 0.5
beam_skip_error_threshold: 0.9
beam_skip_threshold: 0.3
do_beamskip: false
global_frame_id: "map"
lambda_short: 0.1
laser_likelihood_max_dist: 2.0
laser_max_range: 20.0 # change this to 100 for outdoors
laser_min_range: -1.0
laser_model_type: "likelihood_field"
max_beams: 60
max_particles: 2000
min_particles: 500
odom_frame_id: "odom"
pf_err: 0.05
pf_z: 0.99
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
transform_tolerance: 1.0
update_min_a: 0.2
update_min_d: 0.25
z_hit: 0.5
z_max: 0.05
z_rand: 0.5
z_short: 0.05
scan_topic: scan

bt_navigator:
ros__parameters:
use_sim_time: False
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
bt_loop_duration: 10
default_server_timeout: 20
wait_for_service_timeout: 1000
action_server_result_timeout: 900.0
# Switch the default BT XML to the route graph variant
default_nav_to_pose_bt_xml: "$(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_on_route_graph_w_recovery.xml"
plugin_lib_names:
- nav2_compute_route_action_bt_node
- nav2_smooth_path_action_bt_node
- nav2_follow_path_action_bt_node
# Include other standard recovery plugins as required...

error_code_names:
  - compute_path_error_code
  - follow_path_error_code

controller_server:
ros__parameters:
controller_frequency: 20.0
costmap_update_timeout: 0.30
min_x_velocity_threshold: 0.001
min_y_velocity_threshold: 0.5
min_theta_velocity_threshold: 0.001
failure_tolerance: 0.3
progress_checker_plugins: ["progress_checker"]
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]
use_realtime_priority: false

# Progress checker parameters
progress_checker:
  plugin: "nav2_controller::SimpleProgressChecker"
  required_movement_radius: 0.5
  movement_time_allowance: 10.0
# Goal checker parameters
#precise_goal_checker:
#  plugin: "nav2_controller::SimpleGoalChecker"
#  xy_goal_tolerance: 0.25
#  yaw_goal_tolerance: 0.25
#  stateful: True
general_goal_checker:
  stateful: True
  plugin: "nav2_controller::SimpleGoalChecker"
  xy_goal_tolerance: 0.25
  yaw_goal_tolerance: 0.25
FollowPath:
  plugin: "nav2_mppi_controller::MPPIController"
  time_steps: 56
  model_dt: 0.05
  batch_size: 2000
  ax_max: 2.0 # was 3.0
  ax_min: -2.0
  ay_max: 2.0
  ay_min: -2.0
  az_max: 2.0 # was 3.5
  vx_std: 0.2
  vy_std: 0.2
  wz_std: 0.4
  vx_max: 0.3 # was 0.5
  vx_min: -0.3
  vy_max: 0.4 # was 0.5
  wz_max: 1.9
  iteration_count: 1
  prune_distance: 1.7
  transform_tolerance: 0.1
  temperature: 0.3
  gamma: 0.015
  motion_model: "DiffDrive"
  visualize: true
  regenerate_noises: true
  TrajectoryVisualizer:
    trajectory_step: 5
    time_step: 3
  AckermannConstraints:
    min_turning_r: 0.2
  critics: [
    "ConstraintCritic", "CostCritic", "GoalCritic",
    "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
    "PathAngleCritic", "PreferForwardCritic"]
  ConstraintCritic:
    enabled: true
    cost_power: 1
    cost_weight: 4.0
  GoalCritic:
    enabled: true
    cost_power: 1
    cost_weight: 5.0
    threshold_to_consider: 1.4
  GoalAngleCritic:
    enabled: true
    cost_power: 1
    cost_weight: 3.0
    threshold_to_consider: 0.5
  PreferForwardCritic:
    enabled: true
    cost_power: 1
    cost_weight: 5.0
    threshold_to_consider: 0.5
  CostCritic:
    enabled: true
    cost_power: 1
    cost_weight: 3.81
    near_collision_cost: 253
    critical_cost: 300.0
    consider_footprint: false
    collision_cost: 1000000.0
    near_goal_distance: 1.0
    trajectory_point_step: 2
  PathAlignCritic:
    enabled: true
    cost_power: 1
    cost_weight: 14.0
    max_path_occupancy_ratio: 0.05
    trajectory_point_step: 4
    threshold_to_consider: 0.5
    offset_from_furthest: 20
    use_path_orientations: false
  PathFollowCritic:
    enabled: true
    cost_power: 1
    cost_weight: 5.0
    offset_from_furthest: 5
    threshold_to_consider: 1.4
  PathAngleCritic:
    enabled: true
    cost_power: 1
    cost_weight: 2.0
    offset_from_furthest: 4
    threshold_to_consider: 0.5
    max_angle_to_furthest: 1.0
    mode: 0
  # TwirlingCritic:
  #   enabled: true
  #   twirling_cost_power: 1
  #   twirling_cost_weight: 10.0

local_costmap:
local_costmap:
ros__parameters:
update_frequency: 5.0
publish_frequency: 2.0
global_frame: odom
robot_base_frame: base_link
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.25
plugins: ["voxel_layer", "inflation_layer"]
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 2.0 # changed from 3.0
inflation_radius: 0.35 # changed from 0.70
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
publish_voxel_map: True
origin_z: 0.0
z_resolution: 0.05
z_voxels: 16
max_obstacle_height: 2.0
mark_threshold: 0
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
always_send_full_costmap: True

global_costmap:
global_costmap:
ros__parameters:
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
robot_radius: 0.25
resolution: 0.05
track_unknown_space: true
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
obstacle_layer:
plugin: "nav2_costmap_2d::ObstacleLayer"
enabled: True
observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
data_type: "LaserScan"
raytrace_max_range: 3.0
raytrace_min_range: 0.0
obstacle_max_range: 2.5
obstacle_min_range: 0.0
static_layer:
plugin: "nav2_costmap_2d::StaticLayer"
map_subscribe_transient_local: True
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 2.0
inflation_radius: 0.35
always_send_full_costmap: True

The yaml_filename does not need to be specified since it going to be set by defaults in launch.

If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py

file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.

lifecycle_manager:
ros__parameters:
autostart: true
node_names: ['controller_server', 'planner_server', 'behavior_server', 'bt_navigator', 'waypoint_follower']
bond_timeout: 4.0
attempt_respawn_reconnection: true
bond_respawn_max_duration: 10.0
bond_heartbeat_period: 0.25
introspection_mode: "disabled"

map_server:
ros__parameters:
yaml_filename: "/home/russ/basement39_map.yaml"

map_saver:
ros__parameters:
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
map_subscribe_transient_local: True

planner_server:
ros__parameters:
expected_planner_frequency: 20.0
planner_plugins: ["GridBased"]
costmap_update_timeout: 1.0
GridBased:
plugin: "nav2_navfn_planner::NavfnPlanner"
tolerance: 0.5
use_astar: false
allow_unknown: true

smoother_server:
ros__parameters:
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
tolerance: 1.0e-10
max_its: 1000
do_refinement: True

behavior_server:
ros__parameters:
local_costmap_topic: local_costmap/costmap_raw
global_costmap_topic: global_costmap/costmap_raw
local_footprint_topic: local_costmap/published_footprint
global_footprint_topic: global_costmap/published_footprint
cycle_frequency: 10.0
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
spin:
plugin: "nav2_behaviors::Spin"
backup:
plugin: "nav2_behaviors::BackUp"
drive_on_heading:
plugin: "nav2_behaviors::DriveOnHeading"
wait:
plugin: "nav2_behaviors::Wait"
assisted_teleop:
plugin: "nav2_behaviors::AssistedTeleop"
local_frame: odom
global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
rotational_acc_lim: 2.0 # was changed from 3.2

waypoint_follower:
ros__parameters:
loop_rate: 20
stop_on_failure: false
action_server_result_timeout: 900.0
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint:
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
enabled: True
waypoint_pause_duration: 200

route_server:
ros__parameters:
autostart: false
base_frame: 'base_link'
route_frame: 'map'
path_density: 0.05
max_iterations: 0
max_planning_time: 2.0
# The graph_filepath does not need to be specified since it going to be set by defaults in launch.
# If you'd rather set it in the yaml, remove the default "graph" value in the launch file(s).
# file & provide full path to map below. If graph config or launch default is provided, it is used
# graph_filepath: $(find-pkg-share nav2_route)/graphs/aws_graph.geojson
graph_file_loader:
plugin: "nav2_route::GeoJsonGraphFileLoader"
graph_filepath: "/home/russ/Downloads/ros_geograph_file_basement39.geojson"
boundary_radius_to_achieve_node: 0.8 # changed from 1.0
radius_to_achieve_node: 1.5 # changed from 2.0
smooth_corners: true
smoothing_radius: 1.0

tracker_update_rate: 50.0

operations: ["AdjustSpeedLimit", "ReroutingService", "CollisionMonitor"]
ReroutingService:
  plugin: "nav2_route::ReroutingService"
AdjustSpeedLimit:
  plugin: "nav2_route::AdjustSpeedLimit"
CollisionMonitor:
  plugin: "nav2_route::CollisionMonitor"
  max_collision_dist: 3.0
edge_cost_functions: ["DistanceScorer", "CostmapScorer"]
DistanceScorer:
  plugin: "nav2_route::DistanceScorer"
CostmapScorer:
  plugin: "nav2_route::CostmapScorer"
DynamicEdgesScorer:
  plugin: "nav2_route::DynamicEdgesScorer"
tracker_update_rate: 50.0                     # Rate at which to check the status of path tracking
aggregate_blocked_ids: false                  # Whether to aggregate the blocked IDs reported by route operations over the lifespan of the navigation request or only use the currently blocked IDs.
boundary_radius_to_achieve_node: 1.0          # Radius (m) near boundary nodes (e.g. start/end) to enable evaluation of achievement metric
radius_to_achieve_node: 2.0                   # Radius (m) near route nodes as preliminary condition for evaluation of achievement metric
max_prune_dist_from_edge: 8.0                       # Max distance from an edge to consider pruning it as in-progress (e.g. if we're too far away from the edge, its nonsensical to prune it)
min_prune_dist_from_goal: 0.15                      # Min distance from goal node away from goal pose to consider goal node pruning as considering it as being passed (in case goal pose is very close to a goal node, but not exact)
min_prune_dist_from_start: 0.10                     # Min distance from start node away from start pose to consider start node pruning as considering it as being passed (in case start pose is very close to a start node, but not exact)
prune_goal: true                              # Whether pruning the goal nodes from the route due to being past the goal pose requested is possible (pose requests only)
enable_nn_search: true                        # Whether to enable breadth first search considering the costmap to find the node closest to the start and edge poses, rather than using the euclidean nearest neighbor alone.
max_nn_search_iterations: 10000               # Maximum number of iterations for breadth-first search.
num_nearest_nodes: 5                          # The number of nearest-neighbors to extract for breadth-first search to consider.

velocity_smoother:
ros__parameters:
smoothing_frequency: 20.0
stamp_smoothed_velocity_with_smoothing_time: False
scale_velocities: True
feedback: "CLOSED_LOOP" # changed from OPEN_LOOP
max_velocity: [0.3, 0.0, 1.5] # changed from 0.5 in first term, 3.0 in last term
min_velocity: [-0.3, 0.0, -1.5]
max_accel: [1.0, 0.0, 1.5] # changed from 2.5 in first term, 3.0 in last term
max_decel: [-1.0, 0.0, -1.5] # changed from 2.0 in first term
odom_topic: "odom"
odom_duration: 0.1
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0

collision_monitor:
ros__parameters:
base_frame_id: "base_footprint"
odom_frame_id: "odom"
cmd_vel_in_topic: "cmd_vel_smoothed"
cmd_vel_out_topic: "cmd_vel"
state_topic: "collision_monitor_state"
transform_tolerance: 0.2
source_timeout: 1.0
base_shift_correction: True
stop_pub_timeout: 2.0
# Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types,
# and robot footprint for "approach" action type.
polygons: ["FootprintApproach"]
FootprintApproach:
type: "polygon"
action_type: "approach"
footprint_topic: "/local_costmap/published_footprint"
time_before_collision: 1.2
simulation_time_step: 0.1
min_points: 6
visualize: False
enabled: True
observation_sources: ["scan"]
scan:
type: "scan"
topic: "scan"
min_height: 0.15
max_height: 2.0
enabled: True

docking_server:
ros__parameters:
autostart: false
controller_frequency: 50.0
initial_perception_timeout: 5.0
wait_charge_timeout: 5.0
dock_approach_timeout: 30.0
undock_linear_tolerance: 0.05
undock_angular_tolerance: 0.1
max_retries: 3
base_frame: "base_link"
fixed_frame: "odom"
dock_backwards: false
dock_prestaging_tolerance: 0.5

# Types of docks
dock_plugins: ['simple_charging_dock']
simple_charging_dock:
  plugin: 'opennav_docking::SimpleChargingDock'
  docking_threshold: 0.05
  staging_x_offset: -0.7
  use_external_detection_pose: true
  use_battery_status: false # true
  use_stall_detection: false # true

  external_detection_timeout: 1.0
  external_detection_translation_x: -0.18
  external_detection_translation_y: 0.0
  external_detection_rotation_roll: -1.57
  external_detection_rotation_pitch: -1.57
  external_detection_rotation_yaw: 0.0
  filter_coef: 0.1

# Dock instances
# The following example illustrates configuring dock instances.
# docks: ['home_dock']  # Input your docks here
# home_dock:
#   type: 'simple_charging_dock'
#   frame: map
#   pose: [0.0, 0.0, 0.0]

controller:
  k_phi: 3.0
  k_delta: 2.0
  v_linear_min: 0.15
  v_linear_max: 0.15
  use_collision_detection: true
  costmap_topic: "local_costmap/costmap_raw"
  footprint_topic: "local_costmap/published_footprint"
  transform_tolerance: 0.1
  projection_time: 5.0
  simulation_step: 0.1
  dock_collision_threshold: 0.3

loopback_simulator:
ros__parameters:
base_frame_id: "base_footprint"
odom_frame_id: "odom"
map_frame_id: "map"
scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
update_duration: 0.02
scan_range_min: 0.05
scan_range_max: 30.0
scan_angle_min: -3.1415
scan_angle_max: 3.1415
scan_angle_increment: 0.02617
scan_use_inf: true

And this is the file that I would like to run for the BT route:

              <!-- Find if the route start node is far from the robot's current pose; if so, connect them for 'first mile'. -->
              <ReactiveSequence>
                <GetCurrentPose current_pose="{current_pose}"/>
                <GetPoseFromPath path="{route_path}" index="0" pose="{route_start_pose}"/>
                <Inverter>
                  <ArePosesNear ref_pose="{current_pose}" target_pose="{route_start_pose}" tolerance="0.3"/>
                </Inverter>
                <ComputePathToPose goal="{route_start_pose}" path="{first_mile_path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
                <ConcatenatePaths input_path1="{first_mile_path}" input_path2="{route_path}" output_path="{route_path}"/>
              </ReactiveSequence>

              <!-- Find if the route end node is far from the goal pose; if so, connect them for 'last mile'. -->
              <ReactiveSequence>
                <GetPoseFromPath path="{route_path}" index="-1" pose="{route_end_pose}"/>
                <Inverter>
                  <ArePosesNear ref_pose="{goal}" target_pose="{route_end_pose}" tolerance="0.1"/>
                </Inverter>
                <ComputePathToPose start="{route_end_pose}" goal="{goal}" path="{last_mile_path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
                <ConcatenatePaths input_path1="{route_path}" input_path2="{last_mile_path}" output_path="{route_path}"/>
              </ReactiveSequence>

              <!-- Smooth the completed route -->
              <SmoothPath unsmoothed_path="{route_path}" smoothed_path="{path}" smoother_id="route_smoother" error_code_id="{smoother_error_code}" error_msg="{smoother_error_msg}"/>
            </Sequence>
          </Fallback>
        </RateController>
      <Sequence>
        <Fallback>
          <WouldARouteRecoveryHelp error_code="{compute_route_error_code}"/>
          <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
        </Fallback>
        <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
      </Sequence>
    </RecoveryNode>
    <RecoveryNode number_of_retries="1" name="FollowPath">
      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}" tracking_feedback="{tracking_feedback}"/>
      <Sequence>
        <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
        <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
      </Sequence>
    </RecoveryNode>
  </PipelineSequence>
  <Sequence>
    <Fallback>
      <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
      <WouldAPlannerRecoveryHelp error_code="{compute_route_error_code}"/>
    </Fallback>
    <ReactiveFallback name="RecoveryFallback">
      <GoalUpdated/>
      <RoundRobin name="RecoveryActions">
        <Sequence name="ClearingActions">
          <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
          <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
        </Sequence>
        <Wait wait_duration="5.0" error_code_id="{wait_error_code}" error_msg="{wait_error_msg}"/>
        <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
      </RoundRobin>
    </ReactiveFallback>
  </Sequence>
</RecoveryNode>

[SteveMacenski]

plugin_lib_names:
- nav2_compute_route_action_bt_node

Well there's your issue :-)

[Russ76]

Thanks!