diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
index baceb0e531..172a832100 100644
--- a/nav2_bringup/params/nav2_multirobot_params_1.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code
diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
index 583bb64b56..da426b4722 100644
--- a/nav2_bringup/params/nav2_multirobot_params_2.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code
diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
index 5fb4b9fe63..8249df84d1 100644
--- a/nav2_bringup/params/nav2_multirobot_params_all.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_all.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code
diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index 5f0e6e775d..28b23ab289 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -108,6 +108,8 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
+      - nav2_progress_checker_selector_bt_node
+      - nav2_smoother_selector_bt_node
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code
diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
index d8bade77d8..28e4f10334 100644
--- a/nav2_bringup/rviz/nav2_default_view.rviz
+++ b/nav2_bringup/rviz/nav2_default_view.rviz
@@ -20,9 +20,11 @@ Panels:
     Expanded:
       - /Current View1
     Name: Views
-    Splitter Ratio: 0.5
+    Splitter Ratio: 0.3333333432674408
   - Class: nav2_rviz_plugins/Navigation 2
     Name: Navigation 2
+  - Class: nav2_rviz_plugins/Selector
+    Name: Selector
 Visualization Manager:
   Class: ""
   Displays: