diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
index 7403fdebba3c02591e6de21c9abbf299420c3e0f..72883e0a75f7a81565e5cb04a0b3ed7c11cf0b16 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
@@ -19,9 +19,9 @@
 #include <string>
 #include <vector>
 
-#include "behaviortree_cpp/behavior_tree.h"
-#include "behaviortree_cpp/bt_factory.h"
-#include "behaviortree_cpp/xml_parsing.h"
+#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp_v3/xml_parsing.h"
 
 namespace nav2_behavior_tree
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index e069794f104af7780c20630f48822bcf10bcc424..15247339230b448de3d48dd3db67d4828a5fc618 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -18,7 +18,7 @@
 #include <memory>
 #include <string>
 
-#include "behaviortree_cpp/action_node.h"
+#include "behaviortree_cpp_v3/action_node.h"
 #include "nav2_util/node_utils.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_conversions.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_conversions.hpp
index 6b7d783511b15876a0dffa14e9ae735f1748e5e6..58fc4026711ebf8abee4a85514ab82d3f5c9033e 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_conversions.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_conversions.hpp
@@ -15,7 +15,7 @@
 #ifndef NAV2_BEHAVIOR_TREE__BT_CONVERSIONS_HPP_
 #define NAV2_BEHAVIOR_TREE__BT_CONVERSIONS_HPP_
 
-#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp_v3/behavior_tree.h"
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/quaternion.hpp"
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
index 76fbdcdfb11235ac192cc63b8d947a7dc9f4beff..be7908c56c3f2810e5ec382e55f4d5085818a473 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -18,7 +18,7 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp/action_node.h"
+#include "behaviortree_cpp_v3/action_node.h"
 #include "nav2_util/node_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/goal_reached_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/goal_reached_condition.hpp
index f1488e7c4c0a759549178928cfdc666c7bf9c5f7..73e657b16cb142cee6fd6952012ccc4f7f130c44 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/goal_reached_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/goal_reached_condition.hpp
@@ -19,7 +19,7 @@
 #include <memory>
 
 #include "rclcpp/rclcpp.hpp"
-#include "behaviortree_cpp/condition_node.h"
+#include "behaviortree_cpp_v3/condition_node.h"
 #include "nav2_util/robot_utils.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "tf2_ros/buffer.h"
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/initial_pose_received_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/initial_pose_received_condition.hpp
index 69b721bcd8b581a6567fae9ebab04038e298e910..58576a99c946daf4a39e55b99aaad141257c5b91 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/initial_pose_received_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/initial_pose_received_condition.hpp
@@ -15,7 +15,7 @@
 #ifndef NAV2_BEHAVIOR_TREE__INITIAL_POSE_RECEIVED_CONDITION_HPP_
 #define NAV2_BEHAVIOR_TREE__INITIAL_POSE_RECEIVED_CONDITION_HPP_
 
-#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp_v3/behavior_tree.h"
 
 
 namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/is_stuck_condition.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/is_stuck_condition.hpp
index ee864ab841b69264740925a63a2cf3190fdf56f3..29e6fe3833161a11a2c83c42b3f171e4d21578fb 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/is_stuck_condition.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/is_stuck_condition.hpp
@@ -23,7 +23,7 @@
 #include <deque>
 
 #include "rclcpp/rclcpp.hpp"
-#include "behaviortree_cpp/condition_node.h"
+#include "behaviortree_cpp_v3/condition_node.h"
 #include "nav_msgs/msg/odometry.hpp"
 
 using namespace std::chrono_literals; // NOLINT
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/rate_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/rate_controller.hpp
index a2d1ad544ee20123841e95b7f1d85ba44a1bcad8..7f4a0148891b1b088c7e53ca3349682583010475 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/rate_controller.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/rate_controller.hpp
@@ -18,7 +18,7 @@
 #include <chrono>
 #include <string>
 
-#include "behaviortree_cpp/decorator_node.h"
+#include "behaviortree_cpp_v3/decorator_node.h"
 
 namespace nav2_behavior_tree
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/recovery_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/recovery_node.hpp
index 21dcdcbe0cc3ed2958db2caa2f54e8c2c652cf6d..2bcfc86489602b6c89c44b810c7e8384590c3972 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/recovery_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/recovery_node.hpp
@@ -16,7 +16,7 @@
 #define NAV2_BEHAVIOR_TREE__RECOVERY_NODE_HPP_
 
 #include <string>
-#include "behaviortree_cpp/control_node.h"
+#include "behaviortree_cpp_v3/control_node.h"
 
 namespace nav2_behavior_tree
 {
diff --git a/nav2_behavior_tree/plugins/back_up_action.cpp b/nav2_behavior_tree/plugins/back_up_action.cpp
index 2767e629858d35221d06966f35724015b8b4d53d..615cc3b30f169585e00f0dcd5f1bb0eed2f7ddd4 100644
--- a/nav2_behavior_tree/plugins/back_up_action.cpp
+++ b/nav2_behavior_tree/plugins/back_up_action.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/back_up_action.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/clear_costmap_service.cpp b/nav2_behavior_tree/plugins/clear_costmap_service.cpp
index a70ec95042a04a88d72d1b78c6549f6fb120f8ef..d418d9573b00ffeed4dd34f7cebd92226c0ee9bc 100644
--- a/nav2_behavior_tree/plugins/clear_costmap_service.cpp
+++ b/nav2_behavior_tree/plugins/clear_costmap_service.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/clear_costmap_service.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/compute_path_to_pose_action.cpp b/nav2_behavior_tree/plugins/compute_path_to_pose_action.cpp
index 5026206b738362f373a9b2a3f9209c6cff76d7ca..f1e61cb1dba697d65cd45aee2f4f43192c4e4404 100644
--- a/nav2_behavior_tree/plugins/compute_path_to_pose_action.cpp
+++ b/nav2_behavior_tree/plugins/compute_path_to_pose_action.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/compute_path_to_pose_action.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/follow_path_action.cpp b/nav2_behavior_tree/plugins/follow_path_action.cpp
index fa8a77b55f96cc40a6b4772a0e7ac2f8e5e87a33..fb31d603e57c3ee6c73c3e39e84a96813f6d96f2 100644
--- a/nav2_behavior_tree/plugins/follow_path_action.cpp
+++ b/nav2_behavior_tree/plugins/follow_path_action.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/follow_path_action.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/goal_reached_condition.cpp b/nav2_behavior_tree/plugins/goal_reached_condition.cpp
index 365588cd7b17fa2a2eeb13098ae26ba52540cd0e..19ef9113b52f37e2d1191a6341d76bbbcb7bf7f7 100644
--- a/nav2_behavior_tree/plugins/goal_reached_condition.cpp
+++ b/nav2_behavior_tree/plugins/goal_reached_condition.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/goal_reached_condition.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/initial_pose_received_condition.cpp b/nav2_behavior_tree/plugins/initial_pose_received_condition.cpp
index 052c88bdd3f155457194abae31b2ef7efbae0934..1d8ae27f668d9f8d11e878fb7991456355bd6857 100644
--- a/nav2_behavior_tree/plugins/initial_pose_received_condition.cpp
+++ b/nav2_behavior_tree/plugins/initial_pose_received_condition.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/initial_pose_received_condition.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/is_stuck_condition.cpp b/nav2_behavior_tree/plugins/is_stuck_condition.cpp
index c84accb931d3d42b8161eb8fc3bbdacc8ad1f019..dcd603687ed90021b1396ba79be274a01cfc5500 100644
--- a/nav2_behavior_tree/plugins/is_stuck_condition.cpp
+++ b/nav2_behavior_tree/plugins/is_stuck_condition.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/is_stuck_condition.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/rate_controller.cpp b/nav2_behavior_tree/plugins/rate_controller.cpp
index a04a0426e2022104a318e329ec850ace6e4b3eed..c53cfabdc39761b9450b42207a44f82039668d4e 100644
--- a/nav2_behavior_tree/plugins/rate_controller.cpp
+++ b/nav2_behavior_tree/plugins/rate_controller.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/rate_controller.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/recovery_node.cpp b/nav2_behavior_tree/plugins/recovery_node.cpp
index ca4865cf4d07cbd203c121eb1e009af002b09037..8f8ab6bd1d993d47fdc869a037aeeefbcbb2523a 100644
--- a/nav2_behavior_tree/plugins/recovery_node.cpp
+++ b/nav2_behavior_tree/plugins/recovery_node.cpp
@@ -16,7 +16,7 @@
 
 #include <string>
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/reinitialize_global_localization_service.cpp b/nav2_behavior_tree/plugins/reinitialize_global_localization_service.cpp
index cf9fda59271c703092142fbb1babf90f0d9569cd..c7c7728774974b1300ead29aea72cb4870a90c7f 100644
--- a/nav2_behavior_tree/plugins/reinitialize_global_localization_service.cpp
+++ b/nav2_behavior_tree/plugins/reinitialize_global_localization_service.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/reinitialize_global_localization_service.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/spin_action.cpp b/nav2_behavior_tree/plugins/spin_action.cpp
index 4440bdf41817f1b8753328e6ef4680a9064f4ea8..0a13a7f14c0b16576bb8743e38ab39bef7923ad8 100644
--- a/nav2_behavior_tree/plugins/spin_action.cpp
+++ b/nav2_behavior_tree/plugins/spin_action.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/spin_action.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/plugins/wait_action.cpp b/nav2_behavior_tree/plugins/wait_action.cpp
index ad8459d9078ac30a2359196197a64c42546f5b9f..ed605292b9269cd4cd224dcaa822960408c57464 100644
--- a/nav2_behavior_tree/plugins/wait_action.cpp
+++ b/nav2_behavior_tree/plugins/wait_action.cpp
@@ -14,7 +14,7 @@
 
 #include "nav2_behavior_tree/wait_action.hpp"
 
-#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 
 BT_REGISTER_NODES(factory)
diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp
index 13c6ebc5865e2b2693966f02f41f7f581fa60565..d6a62f0f18edbf29d41684438f68be849eae2df4 100644
--- a/nav2_behavior_tree/src/behavior_tree_engine.cpp
+++ b/nav2_behavior_tree/src/behavior_tree_engine.cpp
@@ -19,7 +19,7 @@
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
-#include "behaviortree_cpp/utils/shared_library.h"
+#include "behaviortree_cpp_v3/utils/shared_library.h"
 
 using namespace std::chrono_literals;
 
diff --git a/tools/ros2_dependencies.repos b/tools/ros2_dependencies.repos
index 71a7cdf3dec23a7dc6de94f220ca3977302bfd10..d1df3d43b8002b83158de65ce741bb4af880ad06 100644
--- a/tools/ros2_dependencies.repos
+++ b/tools/ros2_dependencies.repos
@@ -2,7 +2,7 @@ repositories:
   BehaviorTree.CPP:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-    version: 3.0.9
+    version: ros2-3.1.1
   angles:
     type: git
     url: https://github.com/ros/angles.git