diff --git a/nav2_bt_navigator/behavior_trees/follow_point.xml b/nav2_bt_navigator/behavior_trees/follow_point.xml
index 930a2691fb6..6941a8c7e60 100644
--- a/nav2_bt_navigator/behavior_trees/follow_point.xml
+++ b/nav2_bt_navigator/behavior_trees/follow_point.xml
@@ -5,16 +5,18 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <RateController hz="1.0">
         <Sequence>
           <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
-            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
           </GoalUpdater>
          <TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
         </Sequence>
       </RateController>
       <KeepRunningUntilFailure>
-        <FollowPath path="{truncated_path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+        <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
       </KeepRunningUntilFailure>
     </PipelineSequence>
   </BehaviorTree>
diff --git a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
index b1d470435ef..8fa2eca237c 100644
--- a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
@@ -7,6 +7,8 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence name="NavigateWithReplanning">
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="2.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
             <Fallback>
@@ -19,13 +21,13 @@
                 </Inverter>
                 <IsPathValid path="{path}"/>
               </ReactiveSequence>
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
             </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
index 9de1f28e910..ea2a7315909 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
@@ -9,9 +9,11 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence name="NavigateWithReplanning">
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
@@ -25,7 +27,7 @@
             </RetryUntilSuccessful>
           </PathLongerOnApproach>
           <RecoveryNode number_of_retries="1" name="FollowPath">
-            <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
           </RecoveryNode>
         </ReactiveSequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
index aac9a72ae0e..444c9458ff1 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
@@ -8,6 +8,8 @@
   <BehaviorTree ID="MainTree">
     <RecoveryNode number_of_retries="6" name="NavigateRecovery">
       <PipelineSequence>
+        <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+        <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0" name="RateControllerComputePathToPose">
           <RecoveryNode number_of_retries="1" name="RecoveryComputePathToPose">
             <Fallback name="FallbackComputePathToPose">
@@ -17,13 +19,13 @@
                 </Inverter>
                 <IsPathValid path="{path}"/>
               </ReactiveSequence>
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
             </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="RecoveryFollowPath">
-          <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml
index 9345d8f66d6..61132d5f95d 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml
@@ -5,10 +5,12 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <DistanceController distance="1.0">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
       </DistanceController>
-      <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
index 4ba2f67cc97..56e360933c8 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
@@ -5,10 +5,12 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <GoalUpdatedController>
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
       </GoalUpdatedController>
-      <FollowPath path="{path}"  controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml
index 753de5d7802..b9f903fd334 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml
@@ -4,6 +4,8 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <RateController hz="1.0">
         <Fallback>
           <ReactiveSequence>
@@ -12,10 +14,10 @@
             </Inverter>
             <IsPathValid path="{path}"/>
           </ReactiveSequence>
-          <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+          <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
         </Fallback>
       </RateController>
-      <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml
index 8134bbdcd13..a48ae89a76a 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml
@@ -5,10 +5,12 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <SpeedController min_rate="0.1" max_rate="1.0" min_speed="0.0" max_speed="0.26">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
       </SpeedController>
-      <FollowPath path="{path}" controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml
index db0e733db1a..f18111f5bd1 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml
@@ -5,10 +5,12 @@
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <PipelineSequence name="NavigateWithReplanning">
+      <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
+      <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <RateController hz="1.0">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
       </RateController>
-      <FollowPath path="{path}"  controller_id="FollowPath" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>