diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 1a6791a632..cf2bbed4b2 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -247,6 +247,24 @@
       <input_port name="server_timeout"> Server timeout </input_port>
     </Condition>
 
+    <Condition ID="WouldAControllerRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
+    <Condition ID="WouldAPlannerRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
+    <Condition ID="WouldASmootherRecoveryHelp">
+      <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>
+
+
     <!-- ############################### CONTROL NODES ################################ -->
     <Control ID="PipelineSequence"/>