diff --git a/merlin2_arch/merlin2_planning_layer/merlin2_plan_dispatcher/merlin2_plan_dispatcher/merlin2_plan_dispatcher_node.py b/merlin2_arch/merlin2_planning_layer/merlin2_plan_dispatcher/merlin2_plan_dispatcher/merlin2_plan_dispatcher_node.py
index 31d82b8..77791ff 100644
--- a/merlin2_arch/merlin2_planning_layer/merlin2_plan_dispatcher/merlin2_plan_dispatcher/merlin2_plan_dispatcher_node.py
+++ b/merlin2_arch/merlin2_planning_layer/merlin2_plan_dispatcher/merlin2_plan_dispatcher/merlin2_plan_dispatcher_node.py
@@ -183,7 +183,7 @@ def __execute_server(self, goal_handle) -> DispatchPlan.Result:
             self.__action_client = None
             return result
 
-        elif not self.__action_client.is_succeeded():
+        elif self.__action_client and not self.__action_client.is_succeeded():
             goal_handle.abort()
             self.__action_client = None
             return result
diff --git a/merlin2_demo/launch/merlin2_demo2.launch.py b/merlin2_demo/launch/merlin2_demo2.launch.py
index f8dd5f8..44ae08f 100644
--- a/merlin2_demo/launch/merlin2_demo2.launch.py
+++ b/merlin2_demo/launch/merlin2_demo2.launch.py
@@ -95,12 +95,16 @@ def generate_launch_description():
     #
     merlin2_navigation_action_cmd = Node(
         package="merlin2_demo",
-        executable="merlin2_navigation_fsm_action",
+        executable="merlin2_navigation_bt_action",
         name="navigation",
-        parameters=[{
-            "dao_family": dao_family,
-            "mongo_uri": mongo_uri,
-        }]
+        parameters=[{"dao_family": dao_family,
+                     "mongo_uri": mongo_uri,
+                     "bt_file_path": ament_index_python.get_package_share_directory(
+                         "merlin2_demo") + "/bt_xml/navigation.xml",
+                     "plugins": ["waypoint_navigation_bt_node"],
+                     "publisher_port": 1668,
+                     "server_port": 1669
+                     }]
     )
 
     merlin2_check_wp_action_cmd = Node(
diff --git a/simple_node b/simple_node
index 69fc142..e6d9bb2 160000
--- a/simple_node
+++ b/simple_node
@@ -1 +1 @@
-Subproject commit 69fc142bad6eb83edd1e1d28fda43cfede9e2763
+Subproject commit e6d9bb2657b7646e95715f560aa859fb9dfe2794