diff --git a/doc/parameters/param_list.md b/doc/parameters/param_list.md
index 9278a512a51..ada0e743f9f 100644
--- a/doc/parameters/param_list.md
+++ b/doc/parameters/param_list.md
@@ -8,7 +8,7 @@
 | enable_groot_monitoring | True | enable Groot live monitoring of the behavior tree |
 | groot_zmq_publisher_port | 1666 | change port of the zmq publisher needed for groot |
 | groot_zmq_server_port | 1667 | change port of the zmq server needed for groot |
-| plugin_lib_names | ["nav2_compute_path_to_pose_action_bt_node", "nav2_follow_path_action_bt_node", "nav2_back_up_action_bt_node", "nav2_spin_action_bt_node", "nav2_wait_action_bt_node", "nav2_clear_costmap_service_bt_node", "nav2_is_stuck_condition_bt_node", "nav2_goal_reached_condition_bt_node", "nav2_initial_pose_received_condition_bt_node", "nav2_goal_updated_condition_bt_node", "nav2_reinitialize_global_localization_service_bt_node", "nav2_rate_controller_bt_node", "nav2_distance_controller_bt_node", "nav2_recovery_node_bt_node", "nav2_pipeline_sequence_bt_node", "nav2_round_robin_node_bt_node", "nav2_transform_available_condition_bt_node"] | list of behavior tree node shared libraries |
+| plugin_lib_names | ["nav2_compute_path_to_pose_action_bt_node", "nav2_follow_path_action_bt_node", "nav2_back_up_action_bt_node", "nav2_spin_action_bt_node", "nav2_wait_action_bt_node", "nav2_clear_costmap_service_bt_node", "nav2_is_stuck_condition_bt_node", "nav2_goal_reached_condition_bt_node", "nav2_initial_pose_received_condition_bt_node", "nav2_goal_updated_condition_bt_node", "nav2_reinitialize_global_localization_service_bt_node", "nav2_rate_controller_bt_node", "nav2_distance_controller_bt_node", "nav2_speed_controller_bt_node", "nav2_truncate_path_action_bt_node", "nav2_recovery_node_bt_node", "nav2_pipeline_sequence_bt_node", "nav2_round_robin_node_bt_node", "nav2_transform_available_condition_bt_node", "nav2_time_expired_condition_bt_node", "nav2_distance_traveled_condition_bt_node", "nav2_rotate_action_bt_node", "nav2_translate_action_bt_node", "nav2_is_battery_low_condition_bt_node", "nav2_goal_updater_node_bt_node", "nav2_navigate_to_pose_action_bt_node"] | list of behavior tree node shared libraries |
 | transform_tolerance | 0.1 | TF transform tolerance |
 | global_frame | "map" | Reference frame |
 | robot_base_frame | "base_link" | Robot base frame |
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index afd20df0e63..e44e64887e7 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -53,13 +53,17 @@ BtNavigator::BtNavigator()
     "nav2_distance_controller_bt_node",
     "nav2_speed_controller_bt_node",
     "nav2_truncate_path_action_bt_node",
-    "nav2_change_goal_node_bt_node",
     "nav2_recovery_node_bt_node",
     "nav2_pipeline_sequence_bt_node",
     "nav2_round_robin_node_bt_node",
     "nav2_transform_available_condition_bt_node",
     "nav2_time_expired_condition_bt_node",
-    "nav2_distance_traveled_condition_bt_node"
+    "nav2_distance_traveled_condition_bt_node",
+    "nav2_rotate_action_bt_node",
+    "nav2_translate_action_bt_node",
+    "nav2_is_battery_low_condition_bt_node",
+    "nav2_goal_updater_node_bt_node",
+    "nav2_navigate_to_pose_action_bt_node",
   };
 
   // Declare this node's parameters