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Hi @Patlonso:

I don't believe is a typo:

The lifecycle_nodes are:

lifecycle_nodes = ['controller_server',
                   'smoother_server',
                   'planner_server',
                   'recoveries_server',
                   'bt_navigator',
                   'waypoint_follower']

And the navigators for bt_navigator can be found here

navigate_through_poses
navigate_to_pose

so as far I know these nodes are legit.

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