diff --git a/src/tiago_nav_bt_module.cpp b/src/tiago_nav_bt_module.cpp
index 40f12f8416372c136dfc217f4b05c1de783769d0..68ab2bff2465d6aee2d483004feaf5b395097b19 100644
--- a/src/tiago_nav_bt_module.cpp
+++ b/src/tiago_nav_bt_module.cpp
@@ -46,6 +46,12 @@ void CTiagoNavModuleBT::init(IriBehaviorTreeFactory &factory)
   factory.registerSimpleCondition("is_tiago_nav_module_aborted",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_aborted, this));
   factory.registerSimpleCondition("is_tiago_nav_module_preempted",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_preempted, this));
   factory.registerSimpleCondition("is_tiago_nav_module_rejected",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_rejected, this));
+  factory.registerSimpleCondition("is_tiago_nav_module_set_param_fail",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_set_param_fail, this));
+  factory.registerSimpleCondition("is_tiago_nav_module_param_not_present",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_param_not_present, this));
+  factory.registerSimpleCondition("is_tiago_nav_module_no_odom",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_no_odom, this));
+  factory.registerSimpleCondition("is_tiago_nav_module_no_transform",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_no_transform, this));
+  factory.registerSimpleCondition("is_tiago_nav_module_unknown_map",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_unknown_map, this));
+  factory.registerSimpleCondition("is_tiago_nav_module_invalid_mode",  std::bind(&CTiagoNavModuleBT::is_tiago_nav_module_invalid_mode, this));
 
   //Registration of actions
   factory.registerIriAsyncAction("async_is_tiago_nav_finished",  std::bind(&CTiagoNavModuleBT::async_is_tiago_nav_finished, this));