diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml
index 7a5ccbb8f06143ebfb87261b3931d962d252adb6..d70b39ef75c73b784c443251e1740cc4ab023569 100644
--- a/src/xml/nav_main_tree.xml
+++ b/src/xml/nav_main_tree.xml
@@ -1,21 +1,18 @@
 <root main_tree_to_execute="NAV_MAIN">
     <BehaviorTree ID="NAV_MAIN">
       <Fallback>
-        <SequenceStar>
-          <Action ID="set_goal_frame" frame_id="{f_id}"/>
-          <Fallback>
+        <Fallback>
+          <Sequence>
+            <SubTree ID="go_to_goal" x="x" y="y" yaw="yaw" heading_tol="heading_tol" x_y_pos_tol="x_y_pos_tol" update_goal="update_goal" output_go_to_goal="NAV_BT_status" f_id="f_id"/>
+            <SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
+          </Sequence>
+          <ForceFailure>
             <Sequence>
-              <SubTree ID="go_to_goal" x="x" y="y" yaw="yaw" heading_tol="heading_tol" x_y_pos_tol="x_y_pos_tol" update_goal="update_goal" output_go_to_goal="NAV_BT_status" f_id="f_id"/>
+              <Action ID="current_status" status_code="{NAV_BT_status}"/>
               <SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
             </Sequence>
-            <ForceFailure>
-              <Sequence>
-                <Action ID="current_status" status_code="{NAV_BT_status}"/>
-                <SetBlackboard output_key="output_nav" value="{NAV_BT_status}"/>
-              </Sequence>
-            </ForceFailure>
-          </Fallback>
-        </SequenceStar>
+          </ForceFailure>
+        </Fallback>
         <ForceFailure>
           <Action ID="sync_stop"/>
         </ForceFailure>