Reduced time of replanning nav goal in case of preempted

src/xml/nav_main_tree.xml

@@ -18,7 +18,7 @@
       <Sequence>
         <Action ID="set_goal_frame_nav_3d" frame_id="{frame_id}"/>
         <RetryUntilSuccesful num_attempts="3">
-          <Fallback>
+          <ReactiveFallback>
             <Sequence>
               <Timeout msec="600000">
                 <!-- Pending: choose type of navigation required (only position/orientation) -->
@@ -32,7 +32,7 @@
                 <Action ID="NOP"/>
               </Timeout>
             </Sequence>
-          </Fallback>
+          </ReactiveFallback>
         </RetryUntilSuccesful>
         <Action ID="get_current_status_nav_3d" status_code="{status}"/>
       </Sequence>

src/xml/nav_with_gui_main_tree.xml

@@ -30,7 +30,7 @@
       <Sequence>
         <Action ID="set_goal_frame_nav_3d" frame_id="{frame_id}"/>
         <RetryUntilSuccesful num_attempts="3">
-          <Fallback>
+          <ReactiveFallback>
             <Sequence>
               <Timeout msec="600000">
                 <!-- Pending: choose type of navigation required (only position/orientation) -->
@@ -44,7 +44,7 @@
                 <Action ID="NOP"/>
               </Timeout>
             </Sequence>
-          </Fallback>
+          </ReactiveFallback>
         </RetryUntilSuccesful>
         <Action ID="get_current_status_nav_3d" status_code="{status}"/>
       </Sequence>