diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
index a04b1263f4..53ae496d30 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp
@@ -58,12 +58,17 @@ class IsPathValidCondition : public BT::ConditionNode
   {
     return {
       BT::InputPort<nav_msgs::msg::Path>("path", "Path to Check"),
+      BT::InputPort<std::string>(
+        "service_name",
+        "is_path_valid",
+        "Name of the service to call, defaults to is_path_valid"),
       BT::InputPort<std::chrono::milliseconds>("server_timeout")
     };
   }
 
 private:
   rclcpp::Node::SharedPtr node_;
+  std::string service_name_;
   rclcpp::Client<nav2_msgs::srv::IsPathValid>::SharedPtr client_;
   // The timeout value while waiting for a responce from the
   // is path valid service
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 360a3bea60..c6211d10e9 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -258,6 +258,7 @@
 
     <Condition ID="IsPathValid">
       <input_port name="path"> Path to validate </input_port>
+      <input_port name="service_name">Name of the service to call, defaults to is_path_valid</input_port>
       <input_port name="server_timeout"> Server timeout </input_port>
     </Condition>
 
diff --git a/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp b/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
index 4a02dede9a..9e063a3330 100644
--- a/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
@@ -26,10 +26,12 @@ IsPathValidCondition::IsPathValidCondition(
 : BT::ConditionNode(condition_name, conf)
 {
   node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
-  client_ = node_->create_client<nav2_msgs::srv::IsPathValid>("is_path_valid");
 
   server_timeout_ = config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
   getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+
+  getInput("service_name", service_name_);
+  client_ = node_->create_client<nav2_msgs::srv::IsPathValid>(service_name_);
 }
 
 BT::NodeStatus IsPathValidCondition::tick()