diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 230ce02f70c..eabba3a4b09 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -311,6 +311,18 @@
       <output_port name="pose">Stamped extracted pose</output_port>
     </Action>
 
+    <Action ID="GetCurrentPose">
+      <input_port name="global_frame">Global reference frame</input_port>
+      <input_port name="robot_base_frame">robot base frame</input_port>
+      <output_port name="current_pose">Current pose output</output_port>
+    </Action>
+
+    <Action ID="ConcatenatePaths">
+      <input_port name="input_path1">Input Path 1 to cancatenate</input_port>
+      <input_port name="input_path2">Input Path 2 to cancatenate</input_port>
+      <output_port name="output_path">Paths concatenated</output_port>
+    </Action>
+
     <!-- ############################### CONDITION NODES ############################## -->
     <Condition ID="GoalReached">
       <input_port name="goal">Destination</input_port>
@@ -388,11 +400,21 @@
       <input_port name="error_code">Error code</input_port>
     </Condition>
 
+    <Condition ID="WouldARouteRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
     <Condition ID="AreErrorCodesPresent">
       <input_port name="error_code">Error code</input_port>
       <input_port name="error_codes_to_check">Error codes to check, user defined</input_port>
     </Condition>
 
+    <Condition ID="ArePosesNear">
+      <input_port name="ref_pose">Destination</input_port>
+      <input_port name="target_pose">Destination</input_port>
+      <input_port name="global_frame">Global frame</input_port>
+      <input_port name="tolerance">Tolerance</input_port>
+    </Condition>
 
     <!-- ############################### CONTROL NODES ################################ -->
     <Control ID="PipelineSequence"/>