diff --git a/configuration/packages/bt-plugins/actions/CancelComputeAndTrackRoute.rst b/configuration/packages/bt-plugins/actions/CancelComputeAndTrackRoute.rst
new file mode 100644
index 0000000000..9781ddcbc3
--- /dev/null
+++ b/configuration/packages/bt-plugins/actions/CancelComputeAndTrackRoute.rst
@@ -0,0 +1,39 @@
+.. _bt_cancel_compute_and_track_route:
+
+CancelComputeAndTrackRoute
+==========================
+
+Used to cancel the compute and track route action that is part of the behavior server. The server address can be remapped using the ``server_name`` input port.
+
+Input Ports
+-----------
+
+:service_name:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  string N/A
+  ====== =======
+
+  Description
+      Service name, if not using default of ``compute_and_track_route`` due to remapping.
+
+
+:server_timeout:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 10
+  ====== =======
+
+  Description
+      Server timeout (ms).
+
+Example
+-------
+
+.. code-block:: xml
+
+  <CancelComputeAndTrackRoute server_name="compute_and_track_route" server_timeout="10"/>
diff --git a/configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.rst b/configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.rst
new file mode 100644
index 0000000000..1f876e0d56
--- /dev/null
+++ b/configuration/packages/bt-plugins/actions/ComputeAndTrackRoute.rst
@@ -0,0 +1,144 @@
+.. _bt_compute_and_track_route_action:
+
+ComputeAndTrackRoute
+====================
+
+Invokes the ComputeAndTrackRoute ROS 2 action server, which is implemented by the nav2_route_ module.
+The server address can be remapped using the ``server_name`` input port.
+
+.. _nav2_route: https://github.com/ros-navigation/navigation2/tree/main/nav2_route
+
+Input Ports
+-----------
+:start:
+
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  geometry_msgs::msg::PoseStamped         N/A
+  ===================================== =======
+
+  Description
+        Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}".
+
+:goal:
+
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  geometry_msgs::msg::PoseStamped         N/A
+  ===================================== =======
+
+  Description
+        Goal pose. Takes in a blackboard variable, e.g. "{goal}".
+
+:start_id:
+
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  int                                   N/A
+  ===================================== =======
+
+  Description
+        Start node ID to use.
+
+:goal_id:
+
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  int                                   N/A
+  ===================================== =======
+
+  Description
+        Goal node ID to use.
+
+:use_start:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  bool           false
+  ============== =======
+
+  Description
+        Whether to use the start or use TF to obtain the robot's start pose.
+
+:use_poses:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  bool           false
+  ============== =======
+
+  Description
+        Whether to use the start and goal poses or start and goal node IDs.
+
+:server_name:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  string         N/A
+  ============== =======
+
+  Description
+        Action server name.
+
+
+:server_timeout:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  double         10
+  ============== =======
+
+  Description
+        Action server timeout (ms).
+
+Output Ports
+------------
+
+:execution_time:
+
+  ================================= =======
+  Type                              Default
+  --------------------------------- -------
+  builtin_interfaces::msg::Duration N/A
+  ================================= =======
+
+  Description
+        Time it took to compute the route.
+
+:error_code_id:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  uint16          N/A
+  ============== =======
+
+  Description
+        Compute route error code. See ``ComputeAndTrackRoute`` action message for the enumerated set of error codes.
+
+:error_msg:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  string         N/A
+  ============== =======
+
+  Description
+        Compute route error message. See ``ComputeAndTrackRoute`` action message for the enumerated set of error codes.
+
+Example
+-------
+
+.. code-block:: xml
+
+  <ComputeAndTrackRoute start="{start}" goal="{goal}" use_poses="{true}" use_start="{true}" server_name="ComputeAndTrackRoute" server_timeout="10"
+                     error_code_id="{compute_route_error_code}" error_msg="{compute_route_error_msg}"/>
diff --git a/configuration/packages/bt-plugins/actions/ComputeRoute.rst b/configuration/packages/bt-plugins/actions/ComputeRoute.rst
new file mode 100644
index 0000000000..3ea8854995
--- /dev/null
+++ b/configuration/packages/bt-plugins/actions/ComputeRoute.rst
@@ -0,0 +1,166 @@
+.. _bt_compute_route_action:
+
+ComputeRoute
+============
+
+Invokes the ComputeRoute ROS 2 action server, which is implemented by the nav2_route_ module.
+The server address can be remapped using the ``server_name`` input port.
+
+.. _nav2_route: https://github.com/ros-navigation/navigation2/tree/main/nav2_route
+
+Input Ports
+-----------
+:start:
+
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  geometry_msgs::msg::PoseStamped         N/A
+  ===================================== =======
+
+  Description
+        Start pose. Optional. Only used if not left empty. Takes in a blackboard variable, e.g. "{start}".
+
+:goal:
+
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  geometry_msgs::msg::PoseStamped         N/A
+  ===================================== =======
+
+  Description
+        Goal pose. Takes in a blackboard variable, e.g. "{goal}".
+
+:start_id:
+
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  int                                   N/A
+  ===================================== =======
+
+  Description
+        Start node ID to use.
+
+:goal_id:
+
+  ===================================== =======
+  Type                                  Default
+  ------------------------------------- -------
+  int                                   N/A
+  ===================================== =======
+
+  Description
+        Goal node ID to use.
+
+:use_start:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  bool           false
+  ============== =======
+
+  Description
+        Whether to use the start or use TF to obtain the robot's start pose.
+
+:use_poses:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  bool           false
+  ============== =======
+
+  Description
+        Whether to use the start and goal poses or start and goal node IDs.
+
+:server_name:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  string         N/A
+  ============== =======
+
+  Description
+        Action server name.
+
+
+:server_timeout:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  double         10
+  ============== =======
+
+  Description
+        Action server timeout (ms).
+
+Output Ports
+------------
+
+:route:
+
+  ========================== =======
+  Type                       Default
+  -------------------------- -------
+  nav2_msgs::msg::Route      N/A
+  ========================== =======
+
+  Description
+        Route created by action server. Takes in a blackboard variable, e.g. "{route}".
+
+:path:
+
+  ========================== =======
+  Type                       Default
+  -------------------------- -------
+  nav_msgs::msg::Path         N/A
+  ========================== =======
+
+  Description
+        Path created by action server. Takes in a blackboard variable, e.g. "{path}".
+
+:planning_time:
+
+  ================================= =======
+  Type                              Default
+  --------------------------------- -------
+  builtin_interfaces::msg::Duration N/A
+  ================================= =======
+
+  Description
+        Time it took to compute the route.
+
+:error_code_id:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  uint16          N/A
+  ============== =======
+
+  Description
+        Compute route error code. See ``ComputeRoute`` action message for the enumerated set of error codes.
+
+:error_msg:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  string         N/A
+  ============== =======
+
+  Description
+        Compute route error message. See ``ComputeRoute`` action message for the enumerated set of error codes.
+
+Example
+-------
+
+.. code-block:: xml
+
+  <ComputeRoute start="{start}" goal="{goal}" use_poses="{true}" use_start="{true}" path="{path}" server_name="ComputeRoute" server_timeout="10"
+                     error_code_id="{compute_route_error_code}" error_msg="{compute_route_error_msg}"/>
diff --git a/configuration/packages/configuring-bt-xml.rst b/configuration/packages/configuring-bt-xml.rst
index 143d57b7dc..c6e5bc3db7 100644
--- a/configuration/packages/configuring-bt-xml.rst
+++ b/configuration/packages/configuring-bt-xml.rst
@@ -25,6 +25,8 @@ Action Plugins
   bt-plugins/actions/DriveOnHeading.rst
   bt-plugins/actions/AssistedTeleop.rst
   bt-plugins/actions/ComputePathToPose.rst
+  bt-plugins/actions/ComputeRoute.rst
+  bt-plugins/actions/ComputeAndTrackRoute.rst
   bt-plugins/actions/FollowPath.rst
   bt-plugins/actions/NavigateToPose.rst
   bt-plugins/actions/ClearEntireCostmap.rst
@@ -50,6 +52,7 @@ Action Plugins
   bt-plugins/actions/CancelWait.rst
   bt-plugins/actions/CancelDriveOnHeading.rst
   bt-plugins/actions/CancelAssistedTeleop.rst
+  bt-plugins/actions/CancelComputeAndTrackRoute.rst
   bt-plugins/actions/Smooth.rst
   bt-plugins/actions/GetPoseFromPath.rst
   bt-plugins/actions/DockRobot.rst