diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
index daf609d067..9a5b03ca67 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
@@ -23,7 +23,6 @@
 #include "behaviortree_cpp_v3/behavior_tree.h"
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "behaviortree_cpp_v3/xml_parsing.h"
-#include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h"
 
 #include "rclcpp/rclcpp.hpp"
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
index c0425d1711..7e8ea23ec7 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
@@ -132,20 +132,27 @@ inline std::set<int> convertFromString(StringView key)
 }
 
 /**
- * @brief Return parameter value from behavior tree node or ros2 parameter file
+ * @brief Return parameter value from behavior tree node or ros2 parameter file.
  * @param node rclcpp::Node::SharedPtr
  * @param param_name std::string
  * @param behavior_tree_node T2
  * @return <T1>
  */
-template<typename T1, typename T2>
+template<typename T1, typename T2 = BT::TreeNode>
 T1 deconflictPortAndParamFrame(
   rclcpp::Node::SharedPtr node,
   std::string param_name,
-  T2 * behavior_tree_node)
+  const T2 * behavior_tree_node)
 {
   T1 param_value;
-  if (!behavior_tree_node->getInput(param_name, param_value)) {
+  bool param_from_input = behavior_tree_node->getInput(param_name, param_value);
+
+  if constexpr (std::is_same_v<T1, std::string>) {
+    // not valid if port doesn't exist or it is an empty string
+    param_from_input &= !param_value.empty();
+  }
+
+  if (!param_from_input) {
     RCLCPP_DEBUG(
       node->get_logger(),
       "Parameter '%s' not provided by behavior tree xml file, "
@@ -162,6 +169,37 @@ T1 deconflictPortAndParamFrame(
   }
 }
 
+/**
+ * @brief Try reading an import port first, and if that doesn't work
+ * fallback to reading directly the blackboard.
+ * The blackboard must be passed explitly because config() is private in BT.CPP 4.X
+ *
+ * @param bt_node node
+ * @param blackboard the blackboard ovtained with node->config().blackboard
+ * @param param_name std::string
+ * @param behavior_tree_node the node
+ * @return <T>
+ */
+template<typename T> inline
+bool getInputPortOrBlackboard(
+  const BT::TreeNode & bt_node,
+  const BT::Blackboard & blackboard,
+  const std::string & param_name,
+  T & value)
+{
+  if (bt_node.getInput<T>(param_name, value)) {
+    return true;
+  }
+  if (blackboard.get<T>(param_name, value)) {
+    return true;
+  }
+  return false;
+}
+
+// Macro to remove boiler plate when using getInputPortOrBlackboard
+#define getInputOrBlackboard(name, value) \
+  getInputPortOrBlackboard(*this, *(this->config().blackboard), name, value);
+
 }  // namespace BT
 
 #endif  // NAV2_BEHAVIOR_TREE__BT_UTILS_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp
index 64f77f1473..7fe4a65404 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp
@@ -57,7 +57,12 @@ class GloballyUpdatedGoalCondition : public BT::ConditionNode
    */
   static BT::PortsList providedPorts()
   {
-    return {};
+    return {
+      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+        "goals", "Vector of navigation goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStamped>(
+        "goal", "Navigation goal"),
+    };
   }
 
 private:
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp
index 1e8c9712c1..d7191c9749 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp
@@ -54,7 +54,12 @@ class GoalUpdatedCondition : public BT::ConditionNode
    */
   static BT::PortsList providedPorts()
   {
-    return {};
+    return {
+      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+        "goals", "Vector of navigation goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStamped>(
+        "goal", "Navigation goal"),
+    };
   }
 
 private:
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp
index 2bb7d995b8..ee5bb025c9 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp
@@ -15,6 +15,7 @@
 #ifndef NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_
 #define NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_
 
+#include <string>
 #include "behaviortree_cpp_v3/behavior_tree.h"
 
 namespace nav2_behavior_tree
@@ -23,7 +24,21 @@ namespace nav2_behavior_tree
  * @brief A BT::ConditionNode that returns SUCCESS if initial pose
  * has been received and FAILURE otherwise
  */
-BT::NodeStatus initialPoseReceived(BT::TreeNode & tree_node);
-}
+class InitialPoseReceived : public BT::ConditionNode
+{
+public:
+  InitialPoseReceived(
+    const std::string & name,
+    const BT::NodeConfiguration & config);
+
+  static BT::PortsList providedPorts()
+  {
+    return {BT::InputPort<bool>("initial_pose_received")};
+  }
+
+  BT::NodeStatus tick() override;
+};
+
+}  // namespace nav2_behavior_tree
 
 #endif  // NAV2_BEHAVIOR_TREE__PLUGINS__CONDITION__INITIAL_POSE_RECEIVED_CONDITION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp
index 4ac0ab44ee..9c59c877f6 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp
@@ -48,7 +48,12 @@ class GoalUpdatedController : public BT::DecoratorNode
    */
   static BT::PortsList providedPorts()
   {
-    return {};
+    return {
+      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+        "goals", "Vector of navigation goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStamped>(
+        "goal", "Navigation goal"),
+    };
   }
 
 private:
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp
index 8150eb3109..caf30982a6 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp
@@ -57,6 +57,10 @@ class SpeedController : public BT::DecoratorNode
       BT::InputPort<double>("max_rate", 1.0, "Maximum rate"),
       BT::InputPort<double>("min_speed", 0.0, "Minimum speed"),
       BT::InputPort<double>("max_speed", 0.5, "Maximum speed"),
+      BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+        "goals", "Vector of navigation goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStamped>(
+        "goal", "Navigation goal"),
     };
   }
 
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 27ba3e9a57..97e7e6712f 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -218,9 +218,15 @@
       <input_port name="parent">Parent frame for transform</input_port>
     </Condition>
 
-    <Condition ID="GoalUpdated"/>
+    <Condition ID="GoalUpdated">
+      <input_port name="goal">Vector of navigation goals</input_port>
+      <input_port name="goals">Navigation goal</input_port>
+    </Condition>
 
-    <Condition ID="GlobalUpdatedGoal"/>
+    <Condition ID="GlobalUpdatedGoal">
+      <input_port name="goal">Vector of navigation goals</input_port>
+      <input_port name="goals">Navigation goal</input_port>
+    </Condition>
 
     <Condition ID="IsBatteryLow">
       <input_port name="min_battery">Min battery % or voltage before triggering</input_port>
@@ -249,6 +255,7 @@
     </Condition>
 
     <Condition ID="InitialPoseReceived">
+      <input_port name="initial_pose_received">SUCCESS if initial_pose_received true</input_port>
     </Condition>
 
     <Condition ID="IsPathValid">
@@ -307,6 +314,8 @@
       <input_port name="max_rate">Maximum rate</input_port>
       <input_port name="min_speed">Minimum speed</input_port>
       <input_port name="max_speed">Maximum speed</input_port>
+      <input_port name="goal">Vector of navigation goals</input_port>
+      <input_port name="goals">Navigation goal</input_port>
     </Decorator>
 
     <Decorator ID="PathLongerOnApproach">
@@ -316,6 +325,8 @@
     </Decorator>
 
     <Decorator ID="GoalUpdatedController">
+      <input_port name="goal">Vector of navigation goals</input_port>
+      <input_port name="goals">Navigation goal</input_port>
     </Decorator>
 
   </TreeNodesModel>
diff --git a/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp b/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
index bf8b95c84f..fd255f78c5 100644
--- a/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
+++ b/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
@@ -41,7 +41,7 @@ void RemovePassedGoals::initialize()
   auto node = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
   node->get_parameter("transform_tolerance", transform_tolerance_);
 
-  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string, RemovePassedGoals>(
+  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string>(
     node, "robot_base_frame", this);
 }
 
diff --git a/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp b/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
index 64394ee378..167caec938 100644
--- a/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
@@ -43,9 +43,9 @@ void DistanceTraveledCondition::initialize()
   tf_ = config().blackboard->get<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer");
   node_->get_parameter("transform_tolerance", transform_tolerance_);
 
-  global_frame_ = BT::deconflictPortAndParamFrame<std::string, DistanceTraveledCondition>(
+  global_frame_ = BT::deconflictPortAndParamFrame<std::string>(
     node_, "global_frame", this);
-  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string, DistanceTraveledCondition>(
+  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string>(
     node_, "robot_base_frame", this);
   initialized_ = true;
 }
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 fee838c937..61c45696f5 100644
--- a/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.cpp
@@ -16,6 +16,7 @@
 #include <string>
 
 #include "nav2_behavior_tree/plugins/condition/globally_updated_goal_condition.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {
@@ -33,15 +34,15 @@ BT::NodeStatus GloballyUpdatedGoalCondition::tick()
 {
   if (first_time) {
     first_time = false;
-    config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", goals_);
-    config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", goal_);
+    BT::getInputOrBlackboard("goals", goals_);
+    BT::getInputOrBlackboard("goal", goal_);
     return BT::NodeStatus::SUCCESS;
   }
 
   std::vector<geometry_msgs::msg::PoseStamped> current_goals;
-  config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", current_goals);
+  BT::getInputOrBlackboard("goals", current_goals);
   geometry_msgs::msg::PoseStamped current_goal;
-  config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", current_goal);
+  BT::getInputOrBlackboard("goal", current_goal);
 
   if (goal_ != current_goal || goals_ != current_goals) {
     goal_ = current_goal;
diff --git a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
index 2697680415..8609ab5590 100644
--- a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
@@ -33,7 +33,7 @@ GoalReachedCondition::GoalReachedCondition(
 {
   auto node = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
 
-  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string, GoalReachedCondition>(
+  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string>(
     node, "robot_base_frame", this);
 }
 
diff --git a/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
index 34930bb582..f2f112c348 100644
--- a/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
@@ -15,6 +15,7 @@
 #include <string>
 #include <vector>
 #include "nav2_behavior_tree/plugins/condition/goal_updated_condition.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {
@@ -28,15 +29,15 @@ GoalUpdatedCondition::GoalUpdatedCondition(
 BT::NodeStatus GoalUpdatedCondition::tick()
 {
   if (status() == BT::NodeStatus::IDLE) {
-    config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", goals_);
-    config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", goal_);
+    BT::getInputOrBlackboard("goals", goals_);
+    BT::getInputOrBlackboard("goal", goal_);
     return BT::NodeStatus::FAILURE;
   }
 
   std::vector<geometry_msgs::msg::PoseStamped> current_goals;
-  config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", current_goals);
   geometry_msgs::msg::PoseStamped current_goal;
-  config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", current_goal);
+  BT::getInputOrBlackboard("goals", current_goals);
+  BT::getInputOrBlackboard("goal", current_goal);
 
   if (goal_ != current_goal || goals_ != current_goals) {
     goal_ = current_goal;
diff --git a/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp b/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp
index 41796834c6..0a74ce68c9 100644
--- a/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/initial_pose_received_condition.cpp
@@ -13,13 +13,21 @@
 // limitations under the License.
 
 #include "nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {
+InitialPoseReceived::InitialPoseReceived(
+  const std::string & name,
+  const BT::NodeConfiguration & config)
+: BT::ConditionNode(name, config)
+{
+}
 
-BT::NodeStatus initialPoseReceived(BT::TreeNode & tree_node)
+BT::NodeStatus InitialPoseReceived::tick()
 {
-  auto initPoseReceived = tree_node.config().blackboard->get<bool>("initial_pose_received");
+  bool initPoseReceived = false;
+  BT::getInputOrBlackboard("initial_pose_received", initPoseReceived);
   return initPoseReceived ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
 }
 
@@ -28,7 +36,5 @@ BT::NodeStatus initialPoseReceived(BT::TreeNode & tree_node)
 #include "behaviortree_cpp_v3/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
-  factory.registerSimpleCondition(
-    "InitialPoseReceived",
-    std::bind(&nav2_behavior_tree::initialPoseReceived, std::placeholders::_1));
+  factory.registerNodeType<nav2_behavior_tree::InitialPoseReceived>("InitialPoseReceived");
 }
diff --git a/nav2_behavior_tree/plugins/decorator/distance_controller.cpp b/nav2_behavior_tree/plugins/decorator/distance_controller.cpp
index b59fba77b4..3cef0ea978 100644
--- a/nav2_behavior_tree/plugins/decorator/distance_controller.cpp
+++ b/nav2_behavior_tree/plugins/decorator/distance_controller.cpp
@@ -43,9 +43,9 @@ DistanceController::DistanceController(
   tf_ = config().blackboard->get<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer");
   node_->get_parameter("transform_tolerance", transform_tolerance_);
 
-  global_frame_ = BT::deconflictPortAndParamFrame<std::string, DistanceController>(
+  global_frame_ = BT::deconflictPortAndParamFrame<std::string>(
     node_, "global_frame", this);
-  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string, DistanceController>(
+  robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string>(
     node_, "robot_base_frame", this);
 }
 
diff --git a/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp b/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp
index f8a2d8cefc..049bc61f7e 100644
--- a/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp
+++ b/nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp
@@ -19,7 +19,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "behaviortree_cpp_v3/decorator_node.h"
 #include "nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp"
-
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {
@@ -37,8 +37,8 @@ BT::NodeStatus GoalUpdatedController::tick()
     // Reset since we're starting a new iteration of
     // the goal updated controller (moving from IDLE to RUNNING)
 
-    config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", goals_);
-    config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", goal_);
+    BT::getInputOrBlackboard("goals", goals_);
+    BT::getInputOrBlackboard("goal", goal_);
 
     goal_was_updated_ = true;
   }
@@ -46,9 +46,9 @@ BT::NodeStatus GoalUpdatedController::tick()
   setStatus(BT::NodeStatus::RUNNING);
 
   std::vector<geometry_msgs::msg::PoseStamped> current_goals;
-  config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", current_goals);
+  BT::getInputOrBlackboard("goals", current_goals);
   geometry_msgs::msg::PoseStamped current_goal;
-  config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", current_goal);
+  BT::getInputOrBlackboard("goal", current_goal);
 
   if (goal_ != current_goal || goals_ != current_goals) {
     goal_ = current_goal;
diff --git a/nav2_behavior_tree/plugins/decorator/speed_controller.cpp b/nav2_behavior_tree/plugins/decorator/speed_controller.cpp
index f47dfed38a..8d160aa76e 100644
--- a/nav2_behavior_tree/plugins/decorator/speed_controller.cpp
+++ b/nav2_behavior_tree/plugins/decorator/speed_controller.cpp
@@ -19,6 +19,7 @@
 #include "nav2_util/geometry_utils.hpp"
 
 #include "nav2_behavior_tree/plugins/decorator/speed_controller.hpp"
+#include "nav2_behavior_tree/bt_utils.hpp"
 
 namespace nav2_behavior_tree
 {
@@ -61,17 +62,17 @@ inline BT::NodeStatus SpeedController::tick()
   if (status() == BT::NodeStatus::IDLE) {
     // Reset since we're starting a new iteration of
     // the speed controller (moving from IDLE to RUNNING)
-    config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", goals_);
-    config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", goal_);
+    BT::getInputOrBlackboard("goals", goals_);
+    BT::getInputOrBlackboard("goal", goal_);
     period_ = 1.0 / max_rate_;
     start_ = node_->now();
     first_tick_ = true;
   }
 
   std::vector<geometry_msgs::msg::PoseStamped> current_goals;
-  config().blackboard->get<std::vector<geometry_msgs::msg::PoseStamped>>("goals", current_goals);
+  BT::getInputOrBlackboard("goals", current_goals);
   geometry_msgs::msg::PoseStamped current_goal;
-  config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal", current_goal);
+  BT::getInputOrBlackboard("goal", current_goal);
 
   if (goal_ != current_goal || goals_ != current_goals) {
     // Reset state and set period to max since we have a new goal
diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp
index 429368ea96..33100d76bb 100644
--- a/nav2_behavior_tree/src/behavior_tree_engine.cpp
+++ b/nav2_behavior_tree/src/behavior_tree_engine.cpp
@@ -48,7 +48,7 @@ BehaviorTreeEngine::run(
   try {
     while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) {
       if (cancelRequested()) {
-        tree->rootNode()->halt();
+        tree->haltTree();
         return BtStatus::CANCELED;
       }
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp
index ec619b0120..60adb8065a 100644
--- a/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp
@@ -156,13 +156,13 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick)
 
   // check if returned path is correct
   nav_msgs::msg::Path path;
-  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  EXPECT_TRUE(config_->blackboard->get<nav_msgs::msg::Path>("path", path));
   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();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 
   // set new goal
@@ -176,7 +176,7 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick)
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_EQ(action_server_->getCurrentGoal()->goals[0].pose.position.x, -2.5);
 
-  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  EXPECT_TRUE(config_->blackboard->get<nav_msgs::msg::Path>("path", path));
   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);
@@ -222,13 +222,13 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick_use_start)
 
   // check if returned path is correct
   nav_msgs::msg::Path path;
-  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  EXPECT_TRUE(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();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 
   // set new goal and new start
@@ -244,7 +244,7 @@ TEST_F(ComputePathThroughPosesActionTestFixture, test_tick_use_start)
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_EQ(action_server_->getCurrentGoal()->goals[0].pose.position.x, -2.5);
 
-  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  EXPECT_TRUE(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);
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 d726186cd3..9003e928d7 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
@@ -153,13 +153,13 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick)
 
   // check if returned path is correct
   nav_msgs::msg::Path path;
-  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  EXPECT_TRUE(config_->blackboard->get<nav_msgs::msg::Path>("path", path));
   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();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 
   // set new goal
@@ -173,7 +173,7 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick)
   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_TRUE(config_->blackboard->get<nav_msgs::msg::Path>("path", path));
   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);
@@ -219,13 +219,13 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick_use_start)
 
   // check if returned path is correct
   nav_msgs::msg::Path path;
-  config_->blackboard->get<nav_msgs::msg::Path>("path", path);
+  EXPECT_TRUE(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();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 
   // set new goal and new start
@@ -241,7 +241,7 @@ TEST_F(ComputePathToPoseActionTestFixture, test_tick_use_start)
   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_TRUE(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);
diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
index 73a1510a1e..0634a89e94 100644
--- a/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
@@ -95,7 +95,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic)
 
   // check default value
   std::string selected_controller_result;
-  config_->blackboard->get("selected_controller", selected_controller_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result));
 
   EXPECT_EQ(selected_controller_result, "DWB");
 
@@ -119,7 +119,7 @@ TEST_F(ControllerSelectorTestFixture, test_custom_topic)
   }
 
   // check controller updated
-  config_->blackboard->get("selected_controller", selected_controller_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result));
   EXPECT_EQ("DWC", selected_controller_result);
 }
 
@@ -143,7 +143,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic)
 
   // check default value
   std::string selected_controller_result;
-  config_->blackboard->get("selected_controller", selected_controller_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result));
 
   EXPECT_EQ(selected_controller_result, "GridBased");
 
@@ -167,7 +167,7 @@ TEST_F(ControllerSelectorTestFixture, test_default_topic)
   }
 
   // check controller updated
-  config_->blackboard->get("selected_controller", selected_controller_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_controller", selected_controller_result));
   EXPECT_EQ("RRT", selected_controller_result);
 }
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
index c4fcc57519..878007357e 100644
--- a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
@@ -145,7 +145,7 @@ TEST_F(FollowPathActionTestFixture, test_tick)
   EXPECT_EQ(action_server_->getCurrentGoal()->controller_id, std::string("FollowPath"));
 
   // halt node so another goal can be sent
-  tree_->rootNode()->halt();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 
   // set new goal
diff --git a/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp
index e797dbd4cf..5341fc89c6 100644
--- a/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp
@@ -95,7 +95,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic)
 
   // check default value
   std::string selected_goal_checker_result;
-  config_->blackboard->get("selected_goal_checker", selected_goal_checker_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result));
 
   EXPECT_EQ(selected_goal_checker_result, "SimpleGoalCheck");
 
@@ -119,7 +119,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_custom_topic)
   }
 
   // check goal_checker updated
-  config_->blackboard->get("selected_goal_checker", selected_goal_checker_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result));
   EXPECT_EQ("AngularGoalChecker", selected_goal_checker_result);
 }
 
@@ -143,7 +143,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic)
 
   // check default value
   std::string selected_goal_checker_result;
-  config_->blackboard->get("selected_goal_checker", selected_goal_checker_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result));
 
   EXPECT_EQ(selected_goal_checker_result, "GridBased");
 
@@ -167,7 +167,7 @@ TEST_F(GoalCheckerSelectorTestFixture, test_default_topic)
   }
 
   // check goal_checker updated
-  config_->blackboard->get("selected_goal_checker", selected_goal_checker_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_goal_checker", selected_goal_checker_result));
   EXPECT_EQ("RRT", selected_goal_checker_result);
 }
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp
index 5fa2c9aa03..4346c821be 100644
--- a/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp
@@ -148,7 +148,7 @@ TEST_F(NavigateThroughPosesActionTestFixture, test_tick)
   EXPECT_EQ(action_server_->getCurrentGoal()->poses, poses);
 
   // halt node so another goal can be sent
-  tree_->rootNode()->halt();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 }
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
index 264b775a68..8b8b4c28b2 100644
--- a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
@@ -139,7 +139,7 @@ TEST_F(NavigateToPoseActionTestFixture, test_tick)
   EXPECT_EQ(action_server_->getCurrentGoal()->pose, pose);
 
   // halt node so another goal can be sent
-  tree_->rootNode()->halt();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 
   // set new goal
diff --git a/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp
index 8c76e1440d..f0228e0902 100644
--- a/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp
@@ -93,7 +93,7 @@ TEST_F(PlannerSelectorTestFixture, test_custom_topic)
 
   // check default value
   std::string selected_planner_result;
-  config_->blackboard->get("selected_planner", selected_planner_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_planner", selected_planner_result));
 
   EXPECT_EQ(selected_planner_result, "GridBased");
 
@@ -117,7 +117,7 @@ TEST_F(PlannerSelectorTestFixture, test_custom_topic)
   }
 
   // check planner updated
-  config_->blackboard->get("selected_planner", selected_planner_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_planner", selected_planner_result));
   EXPECT_EQ("RRT", selected_planner_result);
 }
 
@@ -141,7 +141,7 @@ TEST_F(PlannerSelectorTestFixture, test_default_topic)
 
   // check default value
   std::string selected_planner_result;
-  config_->blackboard->get("selected_planner", selected_planner_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_planner", selected_planner_result));
 
   EXPECT_EQ(selected_planner_result, "GridBased");
 
@@ -165,7 +165,7 @@ TEST_F(PlannerSelectorTestFixture, test_default_topic)
   }
 
   // check planner updated
-  config_->blackboard->get("selected_planner", selected_planner_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_planner", selected_planner_result));
   EXPECT_EQ("RRT", selected_planner_result);
 }
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp b/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp
index 9e1aa32f8e..2efa65d8f2 100644
--- a/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_remove_passed_goals_action.cpp
@@ -137,7 +137,7 @@ TEST_F(RemovePassedGoalsTestFixture, test_tick)
 
   // check that it removed the point in range
   std::vector<geometry_msgs::msg::PoseStamped> output_poses;
-  config_->blackboard->get("goals", output_poses);
+  EXPECT_TRUE(config_->blackboard->get("goals", output_poses));
 
   EXPECT_EQ(output_poses.size(), 2u);
   EXPECT_EQ(output_poses[0], poses[2]);
diff --git a/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp
index c2e4389021..7ec0126959 100644
--- a/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_smooth_path_action.cpp
@@ -138,7 +138,7 @@ TEST_F(SmoothPathActionTestFixture, test_tick)
   EXPECT_EQ(action_server_->getCurrentGoal()->path, path);
 
   // halt node so another goal can be sent
-  tree_->rootNode()->halt();
+  tree_->haltTree();
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
 
   // set new goal
diff --git a/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp
index d3516aba19..5de5abea5d 100644
--- a/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_smoother_selector_node.cpp
@@ -95,7 +95,7 @@ TEST_F(SmootherSelectorTestFixture, test_custom_topic)
 
   // check default value
   std::string selected_smoother_result;
-  config_->blackboard->get("selected_smoother", selected_smoother_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_smoother", selected_smoother_result));
 
   EXPECT_EQ(selected_smoother_result, "DWB");
 
@@ -119,7 +119,7 @@ TEST_F(SmootherSelectorTestFixture, test_custom_topic)
   }
 
   // check smoother updated
-  config_->blackboard->get("selected_smoother", selected_smoother_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_smoother", selected_smoother_result));
   EXPECT_EQ("DWC", selected_smoother_result);
 }
 
@@ -143,7 +143,7 @@ TEST_F(SmootherSelectorTestFixture, test_default_topic)
 
   // check default value
   std::string selected_smoother_result;
-  config_->blackboard->get("selected_smoother", selected_smoother_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_smoother", selected_smoother_result));
 
   EXPECT_EQ(selected_smoother_result, "GridBased");
 
@@ -167,7 +167,7 @@ TEST_F(SmootherSelectorTestFixture, test_default_topic)
   }
 
   // check smoother updated
-  config_->blackboard->get("selected_smoother", selected_smoother_result);
+  EXPECT_TRUE(config_->blackboard->get("selected_smoother", selected_smoother_result));
   EXPECT_EQ("RRT", selected_smoother_result);
 }
 
diff --git a/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp
index 5540b7b645..b0c43368bf 100644
--- a/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_truncate_path_action.cpp
@@ -127,7 +127,7 @@ TEST_F(TruncatePathTestFixture, test_tick)
   }
 
   nav_msgs::msg::Path truncated_path;
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_NE(path, truncated_path);
   EXPECT_EQ(truncated_path.poses.size(), 2u);
diff --git a/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp b/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp
index 00564d4e8f..0559d6effe 100644
--- a/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_truncate_path_local_action.cpp
@@ -138,7 +138,7 @@ TEST_F(TruncatePathLocalTestFixture, test_tick)
   }
 
   nav_msgs::msg::Path truncated_path;
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_NE(path, truncated_path);
@@ -160,7 +160,7 @@ TEST_F(TruncatePathLocalTestFixture, test_tick)
   {
     tree_->rootNode()->executeTick();
   }
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_NE(path, truncated_path);
@@ -182,7 +182,7 @@ TEST_F(TruncatePathLocalTestFixture, test_tick)
   {
     tree_->rootNode()->executeTick();
   }
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_NE(path, truncated_path);
@@ -233,7 +233,7 @@ TEST_F(TruncatePathLocalTestFixture, test_success_on_empty_path)
     tree_->rootNode()->executeTick();
   }
   nav_msgs::msg::Path truncated_path;
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_EQ(path, truncated_path);
@@ -276,7 +276,7 @@ TEST_F(TruncatePathLocalTestFixture, test_failure_on_no_pose)
     tree_->rootNode()->executeTick();
   }
   nav_msgs::msg::Path truncated_path;
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::FAILURE);
   SUCCEED();
@@ -317,7 +317,7 @@ TEST_F(TruncatePathLocalTestFixture, test_failure_on_invalid_robot_frame)
     tree_->rootNode()->executeTick();
   }
   nav_msgs::msg::Path truncated_path;
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::FAILURE);
   SUCCEED();
@@ -362,7 +362,7 @@ TEST_F(TruncatePathLocalTestFixture, test_path_pruning)
   {
     tree_->rootNode()->executeTick();
   }
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_NE(path, truncated_path);
@@ -395,7 +395,7 @@ TEST_F(TruncatePathLocalTestFixture, test_path_pruning)
   {
     tree_->rootNode()->executeTick();
   }
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_NE(path, truncated_path);
@@ -428,7 +428,7 @@ TEST_F(TruncatePathLocalTestFixture, test_path_pruning)
   {
     tree_->rootNode()->executeTick();
   }
-  config_->blackboard->get("truncated_path", truncated_path);
+  EXPECT_TRUE(config_->blackboard->get("truncated_path", truncated_path));
 
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
   EXPECT_NE(path, truncated_path);
diff --git a/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp b/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp
index 1f9aa41bb8..7b8a67529e 100644
--- a/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp
+++ b/nav2_behavior_tree/test/plugins/condition/test_initial_pose_received.cpp
@@ -21,48 +21,30 @@
 #include "utils/test_behavior_tree_fixture.hpp"
 #include "nav2_behavior_tree/plugins/condition/initial_pose_received_condition.hpp"
 
-class TestNode : public BT::SyncActionNode
-{
-public:
-  TestNode(const std::string & name, const BT::NodeConfiguration & config)
-  : SyncActionNode(name, config)
-  {}
-
-  BT::NodeStatus tick()
-  {
-    return BT::NodeStatus::SUCCESS;
-  }
-
-  static BT::PortsList providedPorts()
-  {
-    return {};
-  }
-};
-
 class InitialPoseReceivedConditionTestFixture : public nav2_behavior_tree::BehaviorTreeTestFixture
 {
 public:
   void SetUp()
   {
-    test_node_ = std::make_shared<TestNode>("TestNode", *config_);
+    bt_node_ = std::make_shared<nav2_behavior_tree::InitialPoseReceived>("TestNode", *config_);
   }
 
   void TearDown()
   {
-    test_node_.reset();
+    bt_node_.reset();
   }
 
 protected:
-  static std::shared_ptr<TestNode> test_node_;
+  static std::shared_ptr<BT::TreeNode> bt_node_;
 };
 
-std::shared_ptr<TestNode> InitialPoseReceivedConditionTestFixture::test_node_ = nullptr;
+std::shared_ptr<BT::TreeNode> InitialPoseReceivedConditionTestFixture::bt_node_ = nullptr;
 
 TEST_F(InitialPoseReceivedConditionTestFixture, test_behavior)
 {
-  EXPECT_EQ(nav2_behavior_tree::initialPoseReceived(*test_node_), BT::NodeStatus::FAILURE);
+  EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::FAILURE);
   config_->blackboard->set("initial_pose_received", true);
-  EXPECT_EQ(nav2_behavior_tree::initialPoseReceived(*test_node_), BT::NodeStatus::SUCCESS);
+  EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::SUCCESS);
 }
 
 int main(int argc, char ** argv)
diff --git a/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp b/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp
index cc6db706f2..26d585a8d2 100644
--- a/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp
+++ b/nav2_behavior_tree/test/plugins/decorator/test_goal_updater_node.cpp
@@ -107,7 +107,7 @@ TEST_F(GoalUpdaterTestFixture, test_tick)
   // tick tree without publishing updated goal and get updated_goal
   tree_->rootNode()->executeTick();
   geometry_msgs::msg::PoseStamped updated_goal;
-  config_->blackboard->get("updated_goal", updated_goal);
+  EXPECT_TRUE(config_->blackboard->get("updated_goal", updated_goal));
 }
 
 TEST_F(GoalUpdaterTestFixture, test_older_goal_update)
@@ -141,7 +141,7 @@ TEST_F(GoalUpdaterTestFixture, test_older_goal_update)
   goal_updater_pub->publish(goal_to_update);
   tree_->rootNode()->executeTick();
   geometry_msgs::msg::PoseStamped updated_goal;
-  config_->blackboard->get("updated_goal", updated_goal);
+  EXPECT_TRUE(config_->blackboard->get("updated_goal", updated_goal));
 
   // expect to succeed and not update goal
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
@@ -184,7 +184,7 @@ TEST_F(GoalUpdaterTestFixture, test_get_latest_goal_update)
   goal_updater_pub->publish(goal_to_update_2);
   tree_->rootNode()->executeTick();
   geometry_msgs::msg::PoseStamped updated_goal;
-  config_->blackboard->get("updated_goal", updated_goal);
+  EXPECT_TRUE(config_->blackboard->get("updated_goal", updated_goal));
 
   // expect to succeed
   EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
diff --git a/nav2_behavior_tree/test/test_bt_utils.cpp b/nav2_behavior_tree/test/test_bt_utils.cpp
index 076b9c3b7c..238dee27dc 100644
--- a/nav2_behavior_tree/test/test_bt_utils.cpp
+++ b/nav2_behavior_tree/test/test_bt_utils.cpp
@@ -310,12 +310,12 @@ TEST(deconflictPortAndParamFrameTest, test_correct_syntax)
   node->declare_parameter<int>("test", 2);
   node->declare_parameter<int>("test_alternative", 3);
 
-  int value = BT::deconflictPortAndParamFrame<int, BT::TreeNode>(
+  int value = BT::deconflictPortAndParamFrame<int>(
     node, "test_alternative", tree.rootNode());
 
   EXPECT_EQ(value, 3);
 
-  value = BT::deconflictPortAndParamFrame<int, BT::TreeNode>(
+  value = BT::deconflictPortAndParamFrame<int>(
     node, "test", tree.rootNode());
 
   EXPECT_EQ(value, 1);