diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp
index fb3f683b462..97511608d50 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp
@@ -64,6 +64,11 @@ class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTele
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
@@ -81,6 +86,7 @@ class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTele
 
 private:
   bool is_recovery_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp
index 0f0886299a1..1419c40661d 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp
@@ -64,6 +64,11 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
@@ -79,6 +84,9 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
           "error_code_id", "The back up behavior server error code")
       });
   }
+
+private:
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp
index 7e5b27af9ce..dd1a6f29086 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp
@@ -43,6 +43,11 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
     const std::string & action_name,
     const BT::NodeConfiguration & conf);
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
@@ -59,6 +64,11 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
       });
   }
 
+  /**
+ * @brief Function to perform some user-defined operation on tick
+ */
+  void on_tick() override;
+
   /**
  * @brief Function to perform some user-defined operation upon successful completion of the action
  */
@@ -73,6 +83,9 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
    * @brief Function to perform some user-defined operation upon cancellation of the action
    */
   BT::NodeStatus on_cancelled() override;
+
+private:
+  bool initalized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
index fcc02258a78..d9b3d4a59cf 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
@@ -36,6 +36,10 @@ class RemovePassedGoals : public BT::ActionNodeBase
     const std::string & xml_tag_name,
     const BT::NodeConfiguration & conf);
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
 
   static BT::PortsList providedPorts()
   {
@@ -56,6 +60,7 @@ class RemovePassedGoals : public BT::ActionNodeBase
   double transform_tolerance_;
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::string robot_base_frame_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp
index 2e442c0e112..4f9b300e445 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp
@@ -48,6 +48,11 @@ class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
    */
   void on_tick() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
@@ -81,6 +86,7 @@ class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
 
 private:
   bool is_recovery_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
index 5143f11351e..fdc320c16b0 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
@@ -45,6 +45,11 @@ class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
    */
   void on_tick() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
@@ -56,6 +61,9 @@ class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
         BT::InputPort<double>("wait_duration", 1.0, "Wait time")
       });
   }
+
+private:
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp
index d29f40e66d8..3c87c7370c7 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/distance_traveled_condition.hpp
@@ -52,6 +52,11 @@ class DistanceTraveledCondition : public BT::ConditionNode
    */
   BT::NodeStatus tick() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing node-specific ports
@@ -74,6 +79,7 @@ class DistanceTraveledCondition : public BT::ConditionNode
   double distance_;
   double transform_tolerance_;
   std::string global_frame_, robot_base_frame_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp
index 5c4753cf9a1..ff479105807 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_low_condition.hpp
@@ -51,6 +51,11 @@ class IsBatteryLowCondition : public BT::ConditionNode
    */
   BT::NodeStatus tick() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing node-specific ports
@@ -81,6 +86,7 @@ class IsBatteryLowCondition : public BT::ConditionNode
   double min_battery_;
   bool is_voltage_;
   bool is_battery_low_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
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 a04b1263f4b..36890f2a8a0 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
@@ -50,6 +50,11 @@ class IsPathValidCondition : public BT::ConditionNode
    */
   BT::NodeStatus tick() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing node-specific ports
@@ -68,6 +73,7 @@ class IsPathValidCondition : public BT::ConditionNode
   // The timeout value while waiting for a responce from the
   // is path valid service
   std::chrono::milliseconds server_timeout_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/time_expired_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/time_expired_condition.hpp
index 9f8c47afab0..356a79857db 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/time_expired_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/time_expired_condition.hpp
@@ -48,6 +48,11 @@ class TimeExpiredCondition : public BT::ConditionNode
    */
   BT::NodeStatus tick() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing node-specific ports
@@ -63,6 +68,7 @@ class TimeExpiredCondition : public BT::ConditionNode
   rclcpp::Node::SharedPtr node_;
   rclcpp::Time start_;
   double period_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp
index 64572e21b7a..5fdefa9b8bf 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/transform_available_condition.hpp
@@ -55,6 +55,11 @@ class TransformAvailableCondition : public BT::ConditionNode
    */
   BT::NodeStatus tick() override;
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing node-specific ports
@@ -75,6 +80,7 @@ class TransformAvailableCondition : public BT::ConditionNode
 
   std::string child_frame_;
   std::string parent_frame_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp
index 201f4868cfd..24a0207e3bd 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp
@@ -38,6 +38,11 @@ class RateController : public BT::DecoratorNode
     const std::string & name,
     const BT::NodeConfiguration & conf);
 
+  /**
+   * @brief Function to read parameters and initialize class variables
+   */
+  void initialize();
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing node-specific ports
@@ -59,6 +64,7 @@ class RateController : public BT::DecoratorNode
   std::chrono::time_point<std::chrono::high_resolution_clock> start_;
   double period_;
   bool first_time_;
+  bool initialized_;
 };
 
 }  // namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
index 1d2bad9f376..64eb61d788e 100644
--- a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
+++ b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
@@ -24,7 +24,11 @@ AssistedTeleopAction::AssistedTeleopAction(
   const std::string & xml_tag_name,
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
-: BtActionNode<nav2_msgs::action::AssistedTeleop>(xml_tag_name, action_name, conf)
+: BtActionNode<nav2_msgs::action::AssistedTeleop>(xml_tag_name, action_name, conf),
+  initialized_(false)
+{}
+
+void AssistedTeleopAction::initialize()
 {
   double time_allowance;
   getInput("time_allowance", time_allowance);
@@ -32,10 +36,15 @@ AssistedTeleopAction::AssistedTeleopAction(
 
   // Populate the input message
   goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
+  initialized_ = true;
 }
 
 void AssistedTeleopAction::on_tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   if (is_recovery_) {
     increment_recovery_count();
   }
diff --git a/nav2_behavior_tree/plugins/action/back_up_action.cpp b/nav2_behavior_tree/plugins/action/back_up_action.cpp
index cb15fc93336..09d79c7e230 100644
--- a/nav2_behavior_tree/plugins/action/back_up_action.cpp
+++ b/nav2_behavior_tree/plugins/action/back_up_action.cpp
@@ -24,7 +24,12 @@ BackUpAction::BackUpAction(
   const std::string & xml_tag_name,
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
-: BtActionNode<nav2_msgs::action::BackUp>(xml_tag_name, action_name, conf)
+: BtActionNode<nav2_msgs::action::BackUp>(xml_tag_name, action_name, conf),
+  initialized_(false)
+{
+}
+
+void nav2_behavior_tree::BackUpAction::initialize()
 {
   double dist;
   getInput("backup_dist", dist);
@@ -39,10 +44,15 @@ BackUpAction::BackUpAction(
   goal_.target.z = 0.0;
   goal_.speed = speed;
   goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
+  initialized_ = true;
 }
 
 void BackUpAction::on_tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   increment_recovery_count();
 }
 
diff --git a/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp b/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
index be062357b16..7e0b613f62f 100644
--- a/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
+++ b/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
@@ -24,7 +24,12 @@ DriveOnHeadingAction::DriveOnHeadingAction(
   const std::string & xml_tag_name,
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
-: BtActionNode<nav2_msgs::action::DriveOnHeading>(xml_tag_name, action_name, conf)
+: BtActionNode<nav2_msgs::action::DriveOnHeading>(xml_tag_name, action_name, conf),
+  initalized_(false)
+{
+}
+
+void DriveOnHeadingAction::initialize()
 {
   double dist;
   getInput("dist_to_travel", dist);
@@ -39,6 +44,14 @@ DriveOnHeadingAction::DriveOnHeadingAction(
   goal_.target.z = 0.0;
   goal_.speed = speed;
   goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
+  initalized_ = true;
+}
+
+void DriveOnHeadingAction::on_tick()
+{
+  if (!initalized_) {
+    initialize();
+  }
 }
 
 BT::NodeStatus DriveOnHeadingAction::on_success()
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 7a5816973dc..bf8b95c84f6 100644
--- a/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
+++ b/nav2_behavior_tree/plugins/action/remove_passed_goals_action.cpp
@@ -29,7 +29,11 @@ RemovePassedGoals::RemovePassedGoals(
   const std::string & name,
   const BT::NodeConfiguration & conf)
 : BT::ActionNodeBase(name, conf),
-  viapoint_achieved_radius_(0.5)
+  viapoint_achieved_radius_(0.5),
+  initialized_(false)
+{}
+
+void RemovePassedGoals::initialize()
 {
   getInput("radius", viapoint_achieved_radius_);
 
@@ -45,6 +49,10 @@ inline BT::NodeStatus RemovePassedGoals::tick()
 {
   setStatus(BT::NodeStatus::RUNNING);
 
+  if (!initialized_) {
+    initialize();
+  }
+
   Goals goal_poses;
   getInput("input_goals", goal_poses);
 
diff --git a/nav2_behavior_tree/plugins/action/spin_action.cpp b/nav2_behavior_tree/plugins/action/spin_action.cpp
index 78fa1311752..cab9c8f8211 100644
--- a/nav2_behavior_tree/plugins/action/spin_action.cpp
+++ b/nav2_behavior_tree/plugins/action/spin_action.cpp
@@ -23,7 +23,12 @@ SpinAction::SpinAction(
   const std::string & xml_tag_name,
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
-: BtActionNode<nav2_msgs::action::Spin>(xml_tag_name, action_name, conf)
+: BtActionNode<nav2_msgs::action::Spin>(xml_tag_name, action_name, conf),
+  initialized_(false)
+{
+}
+
+void SpinAction::initialize()
 {
   double dist;
   getInput("spin_dist", dist);
@@ -32,10 +37,16 @@ SpinAction::SpinAction(
   goal_.target_yaw = dist;
   goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
   getInput("is_recovery", is_recovery_);
+
+  initialized_ = true;
 }
 
 void SpinAction::on_tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   if (is_recovery_) {
     increment_recovery_count();
   }
diff --git a/nav2_behavior_tree/plugins/action/truncate_path_action.cpp b/nav2_behavior_tree/plugins/action/truncate_path_action.cpp
index 7f919a30f3a..b394a804c73 100644
--- a/nav2_behavior_tree/plugins/action/truncate_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/truncate_path_action.cpp
@@ -33,12 +33,12 @@ TruncatePath::TruncatePath(
 : BT::ActionNodeBase(name, conf),
   distance_(1.0)
 {
-  getInput("distance", distance_);
 }
 
 inline BT::NodeStatus TruncatePath::tick()
 {
   setStatus(BT::NodeStatus::RUNNING);
+  getInput("distance", distance_);
 
   nav_msgs::msg::Path input_path;
 
diff --git a/nav2_behavior_tree/plugins/action/wait_action.cpp b/nav2_behavior_tree/plugins/action/wait_action.cpp
index f08fed31476..b9317076737 100644
--- a/nav2_behavior_tree/plugins/action/wait_action.cpp
+++ b/nav2_behavior_tree/plugins/action/wait_action.cpp
@@ -25,7 +25,12 @@ WaitAction::WaitAction(
   const std::string & xml_tag_name,
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
-: BtActionNode<nav2_msgs::action::Wait>(xml_tag_name, action_name, conf)
+: BtActionNode<nav2_msgs::action::Wait>(xml_tag_name, action_name, conf),
+  initialized_(false)
+{
+}
+
+void WaitAction::initialize()
 {
   double duration;
   getInput("wait_duration", duration);
@@ -37,10 +42,15 @@ WaitAction::WaitAction(
   }
 
   goal_.time = rclcpp::Duration::from_seconds(duration);
+  initialized_ = true;
 }
 
 void WaitAction::on_tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   increment_recovery_count();
 }
 
diff --git a/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp b/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
index 5840b8882df..64394ee3782 100644
--- a/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
@@ -30,7 +30,12 @@ DistanceTraveledCondition::DistanceTraveledCondition(
   const BT::NodeConfiguration & conf)
 : BT::ConditionNode(condition_name, conf),
   distance_(1.0),
-  transform_tolerance_(0.1)
+  transform_tolerance_(0.1),
+  initialized_(false)
+{
+}
+
+void DistanceTraveledCondition::initialize()
 {
   getInput("distance", distance_);
 
@@ -42,10 +47,15 @@ DistanceTraveledCondition::DistanceTraveledCondition(
     node_, "global_frame", this);
   robot_base_frame_ = BT::deconflictPortAndParamFrame<std::string, DistanceTraveledCondition>(
     node_, "robot_base_frame", this);
+  initialized_ = true;
 }
 
 BT::NodeStatus DistanceTraveledCondition::tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   if (status() == BT::NodeStatus::IDLE) {
     if (!nav2_util::getCurrentPose(
         start_pose_, *tf_, global_frame_, robot_base_frame_,
diff --git a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
index d81df60a9ec..2697680415b 100644
--- a/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
@@ -42,18 +42,6 @@ GoalReachedCondition::~GoalReachedCondition()
   cleanup();
 }
 
-BT::NodeStatus GoalReachedCondition::tick()
-{
-  if (!initialized_) {
-    initialize();
-  }
-
-  if (isGoalReached()) {
-    return BT::NodeStatus::SUCCESS;
-  }
-  return BT::NodeStatus::FAILURE;
-}
-
 void GoalReachedCondition::initialize()
 {
   node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
@@ -69,6 +57,18 @@ void GoalReachedCondition::initialize()
   initialized_ = true;
 }
 
+BT::NodeStatus GoalReachedCondition::tick()
+{
+  if (!initialized_) {
+    initialize();
+  }
+
+  if (isGoalReached()) {
+    return BT::NodeStatus::SUCCESS;
+  }
+  return BT::NodeStatus::FAILURE;
+}
+
 bool GoalReachedCondition::isGoalReached()
 {
   geometry_msgs::msg::PoseStamped goal;
diff --git a/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp b/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp
index b8630261e6e..9d221cf8c81 100644
--- a/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp
@@ -27,7 +27,12 @@ IsBatteryLowCondition::IsBatteryLowCondition(
   battery_topic_("/battery_status"),
   min_battery_(0.0),
   is_voltage_(false),
-  is_battery_low_(false)
+  is_battery_low_(false),
+  initialized_(false)
+{
+}
+
+void IsBatteryLowCondition::initialize()
 {
   getInput("min_battery", min_battery_);
   getInput("battery_topic", battery_topic_);
@@ -45,10 +50,15 @@ IsBatteryLowCondition::IsBatteryLowCondition(
     rclcpp::SystemDefaultsQoS(),
     std::bind(&IsBatteryLowCondition::batteryCallback, this, std::placeholders::_1),
     sub_option);
+  initialized_ = true;
 }
 
 BT::NodeStatus IsBatteryLowCondition::tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   callback_group_executor_.spin_some();
   if (is_battery_low_) {
     return BT::NodeStatus::SUCCESS;
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 4a02dede9aa..59d593a1475 100644
--- a/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/is_path_valid_condition.cpp
@@ -23,17 +23,27 @@ namespace nav2_behavior_tree
 IsPathValidCondition::IsPathValidCondition(
   const std::string & condition_name,
   const BT::NodeConfiguration & conf)
-: BT::ConditionNode(condition_name, conf)
+: BT::ConditionNode(condition_name, conf),
+  initialized_(false)
 {
   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");
+}
+
+void IsPathValidCondition::initialize()
+{
   getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+  initialized_ = true;
 }
 
 BT::NodeStatus IsPathValidCondition::tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   nav_msgs::msg::Path path;
   getInput("path", path);
 
diff --git a/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp b/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp
index e018e025352..1347998602f 100644
--- a/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/path_expiring_timer_condition.cpp
@@ -29,13 +29,13 @@ PathExpiringTimerCondition::PathExpiringTimerCondition(
   period_(1.0),
   first_time_(true)
 {
-  getInput("seconds", period_);
   node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
 }
 
 BT::NodeStatus PathExpiringTimerCondition::tick()
 {
   if (first_time_) {
+    getInput("seconds", period_);
     getInput("path", prev_path_);
     first_time_ = false;
     start_ = node_->now();
diff --git a/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp b/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp
index 4dc7e588937..64afd1a34be 100644
--- a/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/time_expired_condition.cpp
@@ -27,15 +27,25 @@ TimeExpiredCondition::TimeExpiredCondition(
   const std::string & condition_name,
   const BT::NodeConfiguration & conf)
 : BT::ConditionNode(condition_name, conf),
-  period_(1.0)
+  period_(1.0),
+  initialized_(false)
+{
+}
+
+void TimeExpiredCondition::initialize()
 {
   getInput("seconds", period_);
   node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
   start_ = node_->now();
+  initialized_ = true;
 }
 
 BT::NodeStatus TimeExpiredCondition::tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   if (status() == BT::NodeStatus::IDLE) {
     start_ = node_->now();
     return BT::NodeStatus::FAILURE;
diff --git a/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp b/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp
index 8daca5afede..33e94178deb 100644
--- a/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp
+++ b/nav2_behavior_tree/plugins/condition/transform_available_condition.cpp
@@ -27,11 +27,20 @@ TransformAvailableCondition::TransformAvailableCondition(
   const std::string & condition_name,
   const BT::NodeConfiguration & conf)
 : BT::ConditionNode(condition_name, conf),
-  was_found_(false)
+  was_found_(false),
+  initialized_(false)
 {
   node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
   tf_ = config().blackboard->get<std::shared_ptr<tf2_ros::Buffer>>("tf_buffer");
+}
 
+TransformAvailableCondition::~TransformAvailableCondition()
+{
+  RCLCPP_DEBUG(node_->get_logger(), "Shutting down TransformAvailableCondition BT node");
+}
+
+void TransformAvailableCondition::initialize()
+{
   getInput("child", child_frame_);
   getInput("parent", parent_frame_);
 
@@ -43,15 +52,15 @@ TransformAvailableCondition::TransformAvailableCondition(
   }
 
   RCLCPP_DEBUG(node_->get_logger(), "Initialized an TransformAvailableCondition BT node");
-}
-
-TransformAvailableCondition::~TransformAvailableCondition()
-{
-  RCLCPP_DEBUG(node_->get_logger(), "Shutting down TransformAvailableCondition BT node");
+  initialized_ = true;
 }
 
 BT::NodeStatus TransformAvailableCondition::tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   if (was_found_) {
     return BT::NodeStatus::SUCCESS;
   }
diff --git a/nav2_behavior_tree/plugins/control/recovery_node.cpp b/nav2_behavior_tree/plugins/control/recovery_node.cpp
index 42fc8076be6..44e56dc55ec 100644
--- a/nav2_behavior_tree/plugins/control/recovery_node.cpp
+++ b/nav2_behavior_tree/plugins/control/recovery_node.cpp
@@ -26,11 +26,11 @@ RecoveryNode::RecoveryNode(
   number_of_retries_(1),
   retry_count_(0)
 {
-  getInput("number_of_retries", number_of_retries_);
 }
 
 BT::NodeStatus RecoveryNode::tick()
 {
+  getInput("number_of_retries", number_of_retries_);
   const unsigned children_count = children_nodes_.size();
 
   if (children_count != 2) {
diff --git a/nav2_behavior_tree/plugins/decorator/rate_controller.cpp b/nav2_behavior_tree/plugins/decorator/rate_controller.cpp
index 13e98e0d29d..b710ec30091 100644
--- a/nav2_behavior_tree/plugins/decorator/rate_controller.cpp
+++ b/nav2_behavior_tree/plugins/decorator/rate_controller.cpp
@@ -24,15 +24,25 @@ RateController::RateController(
   const std::string & name,
   const BT::NodeConfiguration & conf)
 : BT::DecoratorNode(name, conf),
-  first_time_(false)
+  first_time_(false),
+  initialized_(false)
+{
+}
+
+void RateController::initialize()
 {
   double hz = 1.0;
   getInput("hz", hz);
   period_ = 1.0 / hz;
+  initialized_ = true;
 }
 
 BT::NodeStatus RateController::tick()
 {
+  if (!initialized_) {
+    initialize();
+  }
+
   if (status() == BT::NodeStatus::IDLE) {
     // Reset the starting point since we're starting a new iteration of
     // the rate controller (moving from IDLE to RUNNING)