diff --git a/src/xml/bt_definitions.xml b/src/xml/bt_definitions.xml
new file mode 100644
index 0000000000000000000000000000000000000000..388c071cb0ee2f12ab02b5b9addd588130b0be92
--- /dev/null
+++ b/src/xml/bt_definitions.xml
@@ -0,0 +1,237 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <Action ID="NOP"/>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <!-- local costmap -->
+        <Action ID="nav_module_local_costmap_set_width">
+            <input_port name="width"> Costmap width</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_width">
+            <output_port name="width"> Costmap width</output_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_set_height">
+            <input_port name="height"> Costmap height</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_height">
+            <output_port name="height"> Costmap height</output_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_set_footprint">
+            <input_port name="footprint"> Costmap footprint</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_footprint">
+            <output_port name="footprint"> Costmap footprint</output_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_set_transform_tolerance">
+            <input_port name="tolerance"> Costmap transform tolerance</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_transform_tolerance">
+            <output_port name="tolerance"> Costmap transform tolerance</output_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_set_update_freq">
+            <input_port name="frequency"> Costmap update freq</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_update_freq">
+            <output_port name="frequency"> Costmap update freq</output_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_set_publish_freq">
+            <input_port name="frequency"> costmap publish freq</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_publish_freq">
+            <output_port name="frequency"> costmap publish freq</output_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_set_resolution">
+            <input_port name="resolution"> costmpa resolution</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_resolution">
+            <output_port name="resolution"> costmpa resolution</output_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_set_origin">
+            <input_port name="x"> Costmap X origin</input_port>
+            <input_port name="y"> Costmap Y origin</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_origin">
+            <output_port name="x"> Costmap X origin</output_port>
+            <output_port name="y"> Costmap Y origin</output_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_set_footprint_padding">
+            <input_port name="padding"> Costmap padding</input_port>
+        </Action>
+        <Action ID="nav_module_local_costmap_get_footprint_padding">
+            <output_port name="padding"> Costmap padding</output_port>
+        </Action>
+        <!-- global costmap -->
+        <Action ID="nav_module_global_costmap_set_width">
+            <input_port name="width"> Costmap width</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_width">
+            <output_port name="width"> Costmap width</output_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_set_height">
+            <input_port name="height"> Costmap height</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_height">
+            <output_port name="height"> Costmap height</output_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_set_footprint">
+            <input_port name="footprint"> Costmap footprint</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_footprint">
+            <output_port name="footprint"> Costmap footprint</output_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_set_transform_tolerance">
+            <input_port name="tolerance"> Costmap transform tolerance</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_transform_tolerance">
+            <output_port name="tolerance"> Costmap transform tolerance</output_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_set_update_freq">
+            <input_port name="frequency"> Costmap update freq</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_update_freq">
+            <output_port name="frequency"> Costmap update freq</output_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_set_publish_freq">
+            <input_port name="frequency"> costmap publish freq</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_publish_freq">
+            <output_port name="frequency"> costmap publish freq</output_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_set_resolution">
+            <input_port name="resolution"> costmpa resolution</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_resolution">
+            <output_port name="resolution"> costmpa resolution</output_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_set_origin">
+            <input_port name="x"> Costmap X origin</input_port>
+            <input_port name="y"> Costmap Y origin</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_origin">
+            <output_port name="x"> Costmap X origin</output_port>
+            <output_port name="y"> Costmap Y origin</output_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_set_footprint_padding">
+            <input_port name="padding"> Costmap padding</input_port>
+        </Action>
+        <Action ID="nav_module_global_costmap_get_footprint_padding">
+            <output_port name="padding"> Costmap padding</output_port>
+        </Action>
+        <!-- TEB local planner -->
+        <Action ID="nav_module_teb_set_goal_tolerances">
+            <input_port name="xy_tolerance"> Local planner xy tolerance</input_port>
+            <input_port name="yaw_tolerance"> Local planner yaw tolerance</input_port>
+        </Action>
+        <Action ID="nav_module_teb_get_goal_tolerances">
+            <output_port name="xy_tolerance"> Local planner xy tolerance</output_port>
+            <output_port name="yaw_tolerance"> Local planner yaw tolerance</output_port>
+        </Action>
+        <Action ID="nav_module_teb_set_xy_goal_tolerance">
+            <input_port name="xy_tolerance"> Local planner xy tolerance</input_port>
+        </Action>
+        <Action ID="nav_module_teb_get_xy_goal_tolerance">
+            <output_port name="xy_tolerance"> Local planner xy tolerance</output_port>
+        </Action>
+        <Action ID="nav_module_teb_set_yaw_goal_tolerance">
+            <input_port name="yaw_tolerance"> Local planner yaw tolerance</input_port>
+        </Action>
+        <Action ID="nav_module_teb_get_yaw_goal_tolerance">
+            <output_port name="yaw_tolerance"> Local planner yaw tolerance</output_port>
+        </Action>
+        <Action ID="nav_module_teb_set_max_vel_x">
+            <input_port name="max_vel_x"> Local planner max vel x</input_port>
+        </Action>
+        <Action ID="nav_module_teb_get_max_vel_x">
+            <output_port name="max_vel_x"> Local planner max vel x</output_port>
+        </Action>
+        <Action ID="nav_module_teb_set_mav_vel_x_backwards">
+            <input_port name="max_vel_x_back"> Local planner max vel x backwards</input_port>
+        </Action>
+        <Action ID="nav_module_teb_get_mav_vel_x_backwards">
+            <output_port name="max_vel_x_back"> Local planner max vel x backwards</output_port>
+        </Action>
+        <Action ID="nav_module_teb_set_max_vel_theta">
+            <input_port name="max_vel_theta"> Local planner max vel theta</input_port>
+        </Action>
+        <Action ID="nav_module_teb_get_max_vel_theta">
+            <output_port name="max_vel_theta"> Local planner max vel theta</output_port>
+        </Action>
+        <!-- iri_nav_module -->
+        <Action ID="nav_module_set_goal_frame">
+            <input_port name="frame_id"> The name of the new reference frame for the future goals</input_port>
+        </Action>
+        <Action ID="nav_module_set_global_frame">
+            <input_port name="frame_id"> The global frame id</input_port>
+        </Action>
+        <Action ID="nav_module_set_robot_frame">
+            <input_port name="frame_id"> The robot frame id</input_port>
+        </Action>
+        <Action ID="nav_module_costmaps_clear"/>
+        <Action ID="nav_module_costmaps_enable_auto_clear">
+            <input_port name="rate_hz"> the desired clearing rate in Hz. This value should be less than 1 Hz, normally in the range of 0.1 to 0.01 Hz</input_port>
+        </Action>
+        <Action ID="nav_module_costmaps_disable_auto_clear"/>
+        <Action ID="nav_module_get_current_speed">
+            <output_port name="speed"> current robot speed</output_port>
+        </Action>
+        <Action ID="nav_module_get_current_path">
+            <output_port name="path"> current path</output_port>
+        </Action>
+        <Action ID="nav_module_get_current_pose">
+            <output_port name="pose"> current robot pose</output_port>
+        </Action>
+        <Action ID="nav_module_get_goal_distance">
+            <output_port name="distance"> current goal distance</output_port>
+        </Action>
+        <Action ID="nav_module_get_path_length">
+            <output_port name="length"> current path length</output_port>
+        </Action>
+        <Action ID="nav_module_costmaps_shutdown">
+            <input_port name="shutdown"> Shutdown costmaps</input_port>
+        </Action>
+        <Action ID="nav_module_set_max_retries">
+            <input_port name="retries"> Max retries</input_port>
+        </Action>
+        <Action ID="nav_module_set_max_retries">
+            <output_port name="retries"> Max retries</output_port>
+        </Action>
+        <Action ID="nav_module_set_planner_frequency">
+            <input_port name="freq"> Planner frequency</input_port>
+        </Action>
+        <Action ID="nav_module_set_planner_frequency">
+            <output_port name="freq"> Planner frequency</output_port>
+        </Action>
+        <Action ID="nav_module_set_planner_patience">
+            <input_port name="time"> planner patience</input_port>
+        </Action>
+        <Action ID="nav_module_set_planner_patience">
+            <output_port name="time"> planner patience</output_port>
+        </Action>
+        <Action ID="nav_module_set_controller_frequency">
+            <input_port name="freq"> controller frequency</input_port>
+        </Action>
+        <Action ID="nav_module_set_controller_frequency">
+            <output_port name="freq"> controller frequency</output_port>
+        </Action>
+        <Action ID="nav_module_set_controller_patience">
+            <input_port name="time"> controller patience</input_port>
+        </Action>
+        <Action ID="nav_module_set_controller_patience">
+            <output_port name="time"> controller patience</output_port>
+        </Action>
+        <Condition ID="nav_module_are_costmaps_shutdown"/>
+        <Condition ID="nav_module_is_costmap_autoclear_enabled"/>
+
+        
+
+
+
+
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>
+
+