diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml
index 1ff614519c1f3b08069ab451637ca5d255614816..afc4d0b848b5784b0eace547066d6d7245da2f5e 100644
--- a/src/xml/nav_main_tree.xml
+++ b/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>
diff --git a/src/xml/nav_with_gui_main_tree.xml b/src/xml/nav_with_gui_main_tree.xml
index 26296c9ecd05448ef164be0f9056f1c1cf924138..1d0567361427937ef77338991c5415408f06731b 100644
--- a/src/xml/nav_with_gui_main_tree.xml
+++ b/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>