Added xml files with navigation BT

src/xml/nav_main_tree.xml

+<root main_tree_to_execute="NAV_MAIN">
+    <BehaviorTree ID="NAV_MAIN">
+      <Fallback>
+        <SequenceStar>
+          <Action ID="set_goal_frame" frame_id="/map"/>
+          <Fallback>
+            <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"/>
+            <ForceFailure>
+              <Action ID="current_status" status_code="{NAV_BT_status}"/>
+            </ForceFailure>
+          </Fallback>
+        </SequenceStar>
+        <ForceFailure>
+          <Action ID="sync_stop"/>
+        </ForceFailure>
+      </Fallback>
+    </BehaviorTree>
+
+    <BehaviorTree ID="go_to_goal">
+      <Sequence>
+        <Action ID="set_goal_frame" frame_id="/map"/>
+        <Timeout msec="6000000">
+          <RetryUntilSuccesful num_attempts="3">
+            <Action ID="async_go_to_pose" x="{x}" y="{y}" yaw="{yaw}" heading_tol="{heading_tol}" x_y_pos_tol="{x_y_pos_tol}" update_goal="{update_goal}"/>
+          </RetryUntilSuccesful>
+        </Timeout>
+        <Condition ID="is_succeded"/>
+        <Action ID="current_status" status_code="{NAV_BT_status}"/>
+      </Sequence>
+    </BehaviorTree>
+
+<!--
+    <BehaviorTree ID="change_orientation">
+      <Sequence>
+        <Timeout msec="20000">
+          <RetryUntilSuccesful num_attempts="3">
+            <Action ID="async_go_to_orientation" yaw="{yaw}" heading_tol="0.1"/>
+          </RetryUntilSuccesful>
+        </Timeout>
+        <Condition ID="is_succeded"/>
+      </Sequence>
+    </BehaviorTree>
+
+    <BehaviorTree ID="change_position">
+      <Sequence>
+        <Action ID="set_goal_frame" frame_id="/ana/base_link"/>
+        <Timeout msec="10000">
+          <RetryUntilSuccesful num_attempts="3">
+            <Action ID="async_go_to_position" x="-0.5" y="0.0" x_y_pos_tol="0.2"/>
+          </RetryUntilSuccesful>
+        </Timeout>
+        <Condition ID="is_succeded"/>
+      </Sequence>
+    </BehaviorTree>
+ -->
+</root>

src/xml/nav_restart_tree.xml

+<root main_tree_to_execute="NAV_RESTART">
+    <BehaviorTree ID="NAV_RESTART">
+      <SequenceStar>
+        <Action ID="sync_stop"/>
+        <ReactiveFallback>
+          <Condition ID="is_finished"/>
+          <Timeout msec="10000">
+            <Action ID="NOP"/>
+          </Timeout>
+        </ReactiveFallback>
+        <Action ID="costmaps_clear"/>
+        <Action ID="reset_goal_variables"/>
+      </SequenceStar>
+    </BehaviorTree>
+</root>