diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
index 117c2629d5..075a2ba447 100644
--- a/nav2_behavior_tree/CMakeLists.txt
+++ b/nav2_behavior_tree/CMakeLists.txt
@@ -77,6 +77,9 @@ list(APPEND plugin_libs nav2_transform_available_condition_bt_node)
 add_library(nav2_goal_reached_condition_bt_node SHARED plugins/condition/goal_reached_condition.cpp)
 list(APPEND plugin_libs nav2_goal_reached_condition_bt_node)
 
+add_library(nav2_goal_updated_condition_bt_node SHARED plugins/condition/goal_updated_condition.cpp)
+list(APPEND plugin_libs nav2_goal_updated_condition_bt_node)
+
 add_library(nav2_initial_pose_received_condition_bt_node SHARED plugins/condition/initial_pose_received_condition.cpp)
 list(APPEND plugin_libs nav2_initial_pose_received_condition_bt_node)
 
diff --git a/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp b/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
new file mode 100644
index 0000000000..4007bddc9c
--- /dev/null
+++ b/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
@@ -0,0 +1,76 @@
+#ifndef NAV2_BEHAVIOR_TREE__GOAL_UPDATED_CONDITION_HPP_
+#define NAV2_BEHAVIOR_TREE__GOAL_UPDATED_CONDITION_HPP_
+
+#include <memory>
+#include <string>
+
+#include "behaviortree_cpp_v3/condition_node.h"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "nav2_util/robot_utils.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_ros/buffer.h"
+
+namespace nav2_behavior_tree
+{
+
+class GoalUpdatedCondition : public BT::ConditionNode
+{
+public:
+  GoalUpdatedCondition(
+    const std::string & condition_name,
+    const BT::NodeConfiguration & conf)
+  : BT::ConditionNode(condition_name, conf), initialized_(false)
+  {
+  }
+
+  GoalUpdatedCondition() = delete;
+
+  BT::NodeStatus tick() override
+  {
+    if (!initialized_) {
+      initialize();
+    }
+
+    if (isGoalUpdated()) {
+      return BT::NodeStatus::SUCCESS;
+    }
+    return BT::NodeStatus::FAILURE;
+  }
+
+  void initialize()
+  {
+    goal_ = config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal");
+    initialized_ = true;
+  }
+
+  bool
+  isGoalUpdated()
+  {
+    auto current_goal = config().blackboard->get<geometry_msgs::msg::PoseStamped>("goal");
+    if (goal_ != current_goal) {
+      goal_ = current_goal;
+      return true;
+    } else {
+      return false;
+    }
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return {};
+  }
+
+private:
+  geometry_msgs::msg::PoseStamped goal_;
+  bool initialized_;
+};
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  factory.registerNodeType<nav2_behavior_tree::GoalUpdatedCondition>("GoalUpdated");
+}
+
+#endif  // NAV2_BEHAVIOR_TREE__GOAL_UPDATED_CONDITION_HPP_
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
index e37d52ed1c..2526635ee3 100644
--- a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
+++ b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
@@ -59,6 +59,7 @@ bt_navigator:
     - nav2_clear_costmap_service_bt_node
     - nav2_is_stuck_condition_bt_node
     - nav2_goal_reached_condition_bt_node
+    - nav2_goal_updated_condition_bt_node
     - nav2_initial_pose_received_condition_bt_node
     - nav2_reinitialize_global_localization_service_bt_node
     - nav2_rate_controller_bt_node
diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
index 44276b9e30..d5a11f724e 100644
--- a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
+++ b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
@@ -59,6 +59,7 @@ bt_navigator:
     - nav2_clear_costmap_service_bt_node
     - nav2_is_stuck_condition_bt_node
     - nav2_goal_reached_condition_bt_node
+    - nav2_goal_updated_condition_bt_node
     - nav2_initial_pose_received_condition_bt_node
     - nav2_reinitialize_global_localization_service_bt_node
     - nav2_rate_controller_bt_node
diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml
index 4e6af4da43..8b403ca5a0 100644
--- a/nav2_bringup/bringup/params/nav2_params.yaml
+++ b/nav2_bringup/bringup/params/nav2_params.yaml
@@ -59,6 +59,7 @@ bt_navigator:
     - nav2_clear_costmap_service_bt_node
     - nav2_is_stuck_condition_bt_node
     - nav2_goal_reached_condition_bt_node
+    - nav2_goal_updated_condition_bt_node
     - nav2_initial_pose_received_condition_bt_node
     - nav2_reinitialize_global_localization_service_bt_node
     - nav2_rate_controller_bt_node
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml
index d4fcc6b609..79b973192e 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_recovery.xml
@@ -18,12 +18,15 @@
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>
-      <SequenceStar name="RecoveryActions">
-        <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
-        <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
-        <Spin spin_dist="1.57"/>
-        <Wait wait_duration="5"/>
-      </SequenceStar>
+      <ReactiveFallback name="RecoveryFallback">
+        <GoalUpdated name="GoalUpdatedCondition"/>
+        <SequenceStar name="RecoveryActions">
+          <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
+          <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
+          <Spin spin_dist="1.57"/>
+          <Wait wait_duration="5"/>
+        </SequenceStar>
+      </ReactiveFallback>
     </RecoveryNode>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_round_robin_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_round_robin_recovery.xml
index beb246fbe9..f7e06edcc2 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_round_robin_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_and_round_robin_recovery.xml
@@ -10,21 +10,30 @@
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="4" name="ComputePathToPose">
             <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
-            <RoundRobin name="GlobalPlannerRecoveryActions">
-              <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
-              <Wait wait_duration="2"/>
-            </RoundRobin>
+            <ReactiveFallback name="PathToPoseFallback">
+              <GoalUpdated name="GoalUpdatedCondition"/>
+              <RoundRobin name="GlobalPlannerRecoveryActions">
+                <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
+                <Wait wait_duration="2"/>
+              </RoundRobin>
+            </ReactiveFallback>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="4" name="FollowPath">
           <FollowPath path="{path}" controller_id="FollowPath"/>
-          <RoundRobin name="PlannerRecoveryActions">
-            <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
-            <Spin spin_dist="1.57"/>
-          </RoundRobin>
+          <ReactiveFallback name="FollowPathFallback">
+            <GoalUpdated name="GoalUpdatedCondition"/>
+            <RoundRobin name="PlannerRecoveryActions">
+              <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
+              <Spin spin_dist="1.57"/>
+            </RoundRobin>
+          </ReactiveFallback>
         </RecoveryNode>
       </PipelineSequence>
+      <ReactiveFallback name="RecoveryFallback">
+        <GoalUpdated name="GoalUpdatedCondition"/>
         <Wait wait_duration="5"/>
+      </ReactiveFallback>
     </RecoveryNode>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index 0d9f03dd49..ba9993aaf3 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -42,6 +42,7 @@ BtNavigator::BtNavigator()
     "nav2_is_stuck_condition_bt_node",
     "nav2_goal_reached_condition_bt_node",
     "nav2_initial_pose_received_condition_bt_node",
+    "nav2_goal_updated_condition_bt_node",
     "nav2_reinitialize_global_localization_service_bt_node",
     "nav2_rate_controller_bt_node",
     "nav2_recovery_node_bt_node",