GoalUpdater-bt_navigator-behavior_tree Updating a goal to /navigate_to_pose not responding

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Hello,

I am trying to find a way to update a goal passed to the action /navigate_to_pose since calling a new action would result in aborting the previous one. I found the bt plugin GoalUpdater which should do the magic but when I try to use it basically nothing happens when I publish on /goal_update topic.

ROS_DISTRO: galactic UBUNTU: 20.04

bt_navigator.xml: <root main_tree_to_execute="MainTree">

<BehaviorTree ID="MainTree">
    <Sequence name="Test">
        <ClearEntireCostmap name="ClearLocalCostmap-test" service_name="local_costmap/clear_entirely_local_costmap"/>
      <ClearEntireCostmap name="ClearGlobalCostmap-test" service_name="global_costmap/clear_entirely_global_costmap"/>
      <Wait wait_duration="1"/>
<RecoveryNode number_of_retries="6" name="NavigateRecovery">
    <PipelineSequence name="NavigateWithReplanning">
      <RateController hz="10.0">
        <RecoveryNode number_of_retries="1" name="ComputePathToPose">
          <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="GridBased"/>
          </GoalUpdater>
          <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
        </RecoveryNode>
      </RateController>
      <RecoveryNode number_of_retries="1" name="DynamicFollowPath">
        <FollowPath path="{path}" controller_id="DynamicFollowPath"/>
        <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
      </RecoveryNode>
    </PipelineSequence>
  <ReactiveFallback name="RecoveryFallback">
    <GoalUpdated/>
    <SequenceStar name="RecoveryActions">
      <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
      <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
      <Wait wait_duration="1"/>
    </SequenceStar>
  </ReactiveFallback>
</RecoveryNode>
</Sequence>

</behaviortree> </root>