diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
index 989f4ffd8dc..8539b98432e 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
@@ -42,6 +42,8 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
       {
         BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathToPose node"),
         BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
+        BT::InputPort<geometry_msgs::msg::PoseStamped>(
+          "start", "Start pose of the path if overriding current robot pose"),
         BT::InputPort<std::string>("planner_id", ""),
       });
   }
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 9a36ccdc6e0..0963fea7db0 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -18,6 +18,7 @@
 
     <Action ID="ComputePathToPose">
       <input_port name="goal">Destination to plan to</input_port>
+      <input_port name="start">Start pose of the path if overriding current robot pose</input_port>
       <output_port name="path">Path created by ComputePathToPose node</output_port>
       <input_port name="planner_id"/>
     </Action>
diff --git a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
index efbabbdbea9..83b29dfe3a3 100644
--- a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
+++ b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
@@ -30,8 +30,11 @@ ComputePathToPoseAction::ComputePathToPoseAction(
 
 void ComputePathToPoseAction::on_tick()
 {
-  getInput("goal", goal_.pose);
+  getInput("goal", goal_.goal);
   getInput("planner_id", goal_.planner_id);
+  if (getInput("start", goal_.start)) {
+    goal_.use_start = true;
+  }
 }
 
 BT::NodeStatus ComputePathToPoseAction::on_success()
diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
index d5d1cd6621a..595f88e0e34 100644
--- a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
@@ -41,8 +41,13 @@ class ComputePathToPoseActionServer : public TestActionServer<nav2_msgs::action:
   {
     const auto goal = goal_handle->get_goal();
     auto result = std::make_shared<nav2_msgs::action::ComputePathToPose::Result>();
-    result->path.poses.resize(1);
-    result->path.poses[0].pose.position.x = goal->pose.pose.position.x;
+    result->path.poses.resize(2);
+    result->path.poses[1].pose.position.x = goal->goal.pose.position.x;
+    if (goal->use_start) {
+      result->path.poses[0].pose.position.x = goal->start.pose.position.x;
+    } else {
+      result->path.poses[0].pose.position.x = 0.0;
+    }
     goal_handle->succeed(result);
   }
 };
@@ -136,14 +141,16 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick)
   // the goal should have reached our server
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("GridBased"));
-  EXPECT_EQ(action_server_->getCurrentGoal()->pose.pose.position.x, 1.0);
+  EXPECT_EQ(action_server_->getCurrentGoal()->goal.pose.position.x, 1.0);
+  EXPECT_FALSE(action_server_->getCurrentGoal()->use_start);
   EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("GridBased"));
 
   // check if returned path is correct
   nav_msgs::msg::Path path;
   config_->blackboard->get<nav_msgs::msg::Path>("path", path);
-  EXPECT_EQ(path.poses.size(), 1u);
-  EXPECT_EQ(path.poses[0].pose.position.x, 1.0);
+  EXPECT_EQ(path.poses.size(), 2u);
+  EXPECT_EQ(path.poses[0].pose.position.x, 0.0);
+  EXPECT_EQ(path.poses[1].pose.position.x, 1.0);
 
   // halt node so another goal can be sent
   tree_->rootNode()->halt();
@@ -158,11 +165,80 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick)
   }
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
-  EXPECT_EQ(action_server_->getCurrentGoal()->pose.pose.position.x, -2.5);
+  EXPECT_EQ(action_server_->getCurrentGoal()->goal.pose.position.x, -2.5);
 
   config_->blackboard->get<nav_msgs::msg::Path>("path", path);
-  EXPECT_EQ(path.poses.size(), 1u);
-  EXPECT_EQ(path.poses[0].pose.position.x, -2.5);
+  EXPECT_EQ(path.poses.size(), 2u);
+  EXPECT_EQ(path.poses[0].pose.position.x, 0.0);
+  EXPECT_EQ(path.poses[1].pose.position.x, -2.5);
+}
+
+TEST_F(ComputePathToPoseActionTestFixture, test_tick_use_start)
+{
+  // create tree
+  std::string xml_txt =
+    R"(
+      <root main_tree_to_execute = "MainTree" >
+        <BehaviorTree ID="MainTree">
+            <ComputePathToPose goal="{goal}" start="{start}" path="{path}" planner_id="GridBased"/>
+        </BehaviorTree>
+      </root>)";
+
+  tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
+
+  // create new start and set it on blackboard
+  geometry_msgs::msg::PoseStamped start;
+  start.header.stamp = node_->now();
+  start.pose.position.x = 2.0;
+  config_->blackboard->set("start", start);
+
+  // create new goal and set it on blackboard
+  geometry_msgs::msg::PoseStamped goal;
+  goal.header.stamp = node_->now();
+  goal.pose.position.x = 1.0;
+  config_->blackboard->set("goal", goal);
+
+  // tick until node succeeds
+  while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
+    tree_->rootNode()->executeTick();
+  }
+
+  // the goal should have reached our server
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(tree_->rootNode()->getInput<std::string>("planner_id"), std::string("GridBased"));
+  EXPECT_EQ(action_server_->getCurrentGoal()->goal.pose.position.x, 1.0);
+  EXPECT_EQ(action_server_->getCurrentGoal()->start.pose.position.x, 2.0);
+  EXPECT_TRUE(action_server_->getCurrentGoal()->use_start);
+  EXPECT_EQ(action_server_->getCurrentGoal()->planner_id, std::string("GridBased"));
+
+  // check if returned path is correct
+  nav_msgs::msg::Path path;
+  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  EXPECT_EQ(path.poses.size(), 2u);
+  EXPECT_EQ(path.poses[0].pose.position.x, 2.0);
+  EXPECT_EQ(path.poses[1].pose.position.x, 1.0);
+
+  // halt node so another goal can be sent
+  tree_->rootNode()->halt();
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
+
+  // set new goal and new start
+  goal.pose.position.x = -2.5;
+  start.pose.position.x = -1.5;
+  config_->blackboard->set("goal", goal);
+  config_->blackboard->set("start", start);
+
+  while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
+    tree_->rootNode()->executeTick();
+  }
+
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(action_server_->getCurrentGoal()->goal.pose.position.x, -2.5);
+
+  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  EXPECT_EQ(path.poses.size(), 2u);
+  EXPECT_EQ(path.poses[0].pose.position.x, -1.5);
+  EXPECT_EQ(path.poses[1].pose.position.x, -2.5);
 }
 
 int main(int argc, char ** argv)
diff --git a/nav2_msgs/action/ComputePathToPose.action b/nav2_msgs/action/ComputePathToPose.action
index add60a824dc..090c28ccaf4 100644
--- a/nav2_msgs/action/ComputePathToPose.action
+++ b/nav2_msgs/action/ComputePathToPose.action
@@ -1,6 +1,8 @@
 #goal definition
-geometry_msgs/PoseStamped pose
+geometry_msgs/PoseStamped goal
+geometry_msgs/PoseStamped start
 string planner_id
+bool use_start # If true, use current robot pose as path start, if false, use start above instead
 ---
 #result definition
 nav_msgs/Path path
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 79167d0f3a0..16df788cf0d 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -232,8 +232,11 @@ PlannerServer::computePlan()
       r.sleep();
     }
 
+    // Use start pose if provided otherwise use current robot pose
     geometry_msgs::msg::PoseStamped start;
-    if (!costmap_ros_->getRobotPose(start)) {
+    if (goal->use_start) {
+      start = goal->start;
+    } else if (!costmap_ros_->getRobotPose(start)) {
       action_server_->terminate_current();
       return;
     }
@@ -242,13 +245,13 @@ PlannerServer::computePlan()
       goal = action_server_->accept_pending_goal();
     }
 
-    result->path = getPlan(start, goal->pose, goal->planner_id);
+    result->path = getPlan(start, goal->goal, goal->planner_id);
 
     if (result->path.poses.size() == 0) {
       RCLCPP_WARN(
         get_logger(), "Planning algorithm %s failed to generate a valid"
         " path to (%.2f, %.2f)", goal->planner_id.c_str(),
-        goal->pose.pose.position.x, goal->pose.pose.position.y);
+        goal->goal.pose.position.x, goal->goal.pose.position.y);
       action_server_->terminate_current();
       return;
     }
@@ -256,8 +259,8 @@ PlannerServer::computePlan()
     RCLCPP_DEBUG(
       get_logger(),
       "Found valid path of size %lu to (%.2f, %.2f)",
-      result->path.poses.size(), goal->pose.pose.position.x,
-      goal->pose.pose.position.y);
+      result->path.poses.size(), goal->goal.pose.position.x,
+      goal->goal.pose.position.y);
 
     // Publish the plan for visualization purposes
     publishPlan(result->path);
@@ -276,8 +279,8 @@ PlannerServer::computePlan()
   } catch (std::exception & ex) {
     RCLCPP_WARN(
       get_logger(), "%s plugin failed to plan calculation to (%.2f, %.2f): \"%s\"",
-      goal->planner_id.c_str(), goal->pose.pose.position.x,
-      goal->pose.pose.position.y, ex.what());
+      goal->planner_id.c_str(), goal->goal.pose.position.x,
+      goal->goal.pose.position.y, ex.what());
     // TODO(orduno): provide information about fail error to parent task,
     //               for example: couldn't get costmap update
     action_server_->terminate_current();