Bug report

The FollowPath Action plugin in nav2_tree_nodes.xml on jazzy is defined to have <input_port name="service_name">Service name</input_port> instead of <input_port name="server_name">Server name</input_port>. As the FollowPath Action plugin is a child class of BtActionNode and not BtServiceNode the correct input port is server_name.

Required Info:

• Operating System:
  • Ubuntu 24.04
• ROS2 Version:
  • Jazzy binary
• Version or commit hash:
  • ros-jazzy-navigation2 1.3.6-1noble.20250520.223628
• DDS implementation:
  • Cyclone dds

Steps to reproduce issue

Load up Groot -> load BT you want to use -> change service_name in FollowPath action -> Save -> Clean up empty strings left by Groot 🙃 -> boot up nav2

Expected behavior

To work :) .

Actual behavior

Does not work :( .

[dumper.nav.bt_navigator]: Exception when loading BT: a port with name [service_name] is found in the XML (, line 20) but not in the providedPorts() of its registered node type.