A couple missed changes to bt_navigator

nav2_bt_navigator/behavior_trees/simple_sequential.xml

 <!--
-  This Behavior Tree does the bare minimum - it invokes ComputePathToPose to
-  compute a path using the global planner. It then invokes the local planner
-  (FollowPath) with this path. The path endpoints (input to the global planner)
-  and the resulting path (output of the global planner and input to the local
-  planner) are passed on the blackboard.
+  This Behavior Tree does the minimum - it invokes ComputePathToPose once to compute a path
+  using the global planner. It then invokes the local planner (FollowPath) with this path.
 -->
 
 <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">
     <SequenceStar name="root">
-      <ComputePathToPose goal="${goal}" path="${path}"/>
+      <ComputePathToPose goal="${goal}"/>
       <FollowPath path="${path}"/>
     </SequenceStar>
   </BehaviorTree>

nav2_bt_navigator/src/bt_navigator.cpp

@@ -51,7 +51,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
   self_client_ = rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(
     client_node_, "NavigateToPose");
 
-  goal_sub_ = rclcpp_node_->create_subscription<geometry_msgs::msg::PoseStamped>("goal",
+  goal_sub_ = rclcpp_node_->create_subscription<geometry_msgs::msg::PoseStamped>("/move_base_simple/goal",
       rclcpp::SystemDefaultsQoS(),
       std::bind(&BtNavigator::onGoalPoseReceived, this, std::placeholders::_1));