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 f87435995c5..fc95daaf439 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
@@ -61,6 +61,11 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * \brief Override required by the a BT action. Cancel the action and set the path output
+   */
+  void halt() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
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 e6d315e43ad..07bd9240d29 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
@@ -57,6 +57,13 @@ BT::NodeStatus ComputePathToPoseAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void ComputePathToPoseAction::halt()
+{
+  nav_msgs::msg::Path empty_path;
+  setOutput("path", empty_path);
+  BtActionNode::halt();
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp b/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
index b6afc0d5a4f..fee838c9379 100644
--- a/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
@@ -35,7 +35,7 @@ BT::NodeStatus GloballyUpdatedGoalCondition::tick()
     first_time = false;
     config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", goals_);
     config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", goal_);
-    return BT::NodeStatus::FAILURE;
+    return BT::NodeStatus::SUCCESS;
   }
 
   std::vector<geometry_msgs::msg::PoseStamped> current_goals;
diff --git a/nav2_behavior_tree/test/plugins/condition/test_globally_updated_goal.cpp b/nav2_behavior_tree/test/plugins/condition/test_globally_updated_goal.cpp
index d41a6d424cc..2e6810f5102 100644
--- a/nav2_behavior_tree/test/plugins/condition/test_globally_updated_goal.cpp
+++ b/nav2_behavior_tree/test/plugins/condition/test_globally_updated_goal.cpp
@@ -49,7 +49,7 @@ TEST_F(GloballyUpdatedGoalConditionTestFixture, test_behavior)
   config_->blackboard->set("goal", goal);
 
   EXPECT_EQ(bt_node_->status(), BT::NodeStatus::IDLE);
-  EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::FAILURE);
+  EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SUCCESS);
 
   goal.pose.position.x = 1.0;
   config_->blackboard->set("goal", goal);
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp
index c6e0e484ad7..0fbe47501a8 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/range.hpp
@@ -15,6 +15,10 @@
 #ifndef NAV2_COLLISION_MONITOR__RANGE_HPP_
 #define NAV2_COLLISION_MONITOR__RANGE_HPP_
 
+#include <memory>
+#include <vector>
+#include <string>
+
 #include "sensor_msgs/msg/range.hpp"
 
 #include "nav2_collision_monitor/source.hpp"