diff --git a/configuration/packages/bt-plugins/conditions/IsWithinPathTrackingBounds.rst b/configuration/packages/bt-plugins/conditions/IsWithinPathTrackingBounds.rst
new file mode 100644
index 0000000000..46facf212f
--- /dev/null
+++ b/configuration/packages/bt-plugins/conditions/IsWithinPathTrackingBounds.rst
@@ -0,0 +1,60 @@
+.. _bt_is_within_path_tracking_bounds_condition:
+
+IsWithinPathTrackingBounds
+==========================
+
+Checks if the robot is within determined tracking error bounds during path following.
+
+Input Ports
+-----------
+
+:max_error_left:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 0.5
+  ====== =======
+
+  Description
+    Maximum allowable tracking error (m) on the left side of the path before returning FAILURE. Must be a positive value.
+
+:max_error_right:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  double 0.5
+  ====== =======
+
+  Description
+    Maximum allowable tracking error (m) on the right side of the path before returning FAILURE. Must be a positive value.
+
+:max_error_heading:
+
+    ====== =======
+    Type   Default
+    ------ -------
+    double 3.14
+    ====== =======
+
+    Description
+      Maximum allowable heading error (rad) before returning FAILURE. Must be a positive value.
+
+:tracking_feedback:
+
+    ==================================== ========
+    Type                                 Default
+    ------------------------------------ --------
+    nav2_msgs::msg::PathTrackingFeedback N/A
+    ==================================== ========
+
+    Description
+      Generally, the feedback message from the controller server, which contains the current tracking error information. Though, it may be populated by another source or topic if need be.
+
+Example
+-------
+
+.. code-block:: xml
+
+    <IsWithinPathTrackingBounds max_error_left="0.5" max_error_right="0.5" max_error_heading="3.14" tracking_feedback="{tracking_feedback}"/>
diff --git a/configuration/packages/configuring-bt-xml.rst b/configuration/packages/configuring-bt-xml.rst
index 2d1ac9bada..deae292e02 100644
--- a/configuration/packages/configuring-bt-xml.rst
+++ b/configuration/packages/configuring-bt-xml.rst
@@ -87,6 +87,7 @@ Condition Plugins
   bt-plugins/conditions/IsBatteryLow.rst
   bt-plugins/conditions/IsPathValid.rst
   bt-plugins/conditions/IsPoseOccupied.rst
+  bt-plugins/conditions/IsWithinPathTrackingBounds.rst
   bt-plugins/conditions/PathExpiringTimer.rst
   bt-plugins/conditions/AreErrorCodesPresent.rst
   bt-plugins/conditions/WouldAControllerRecoveryHelp.rst
diff --git a/migration/Kilted.rst b/migration/Kilted.rst
index 25da7581c4..1d5e867e6a 100644
--- a/migration/Kilted.rst
+++ b/migration/Kilted.rst
@@ -808,3 +808,8 @@ New bt_log_idle_transitions parameter in bt_navigator
 -----------------------------------------------------
 
 In `PR 5963 <https://github.com/ros-navigation/navigation2/pull/5963>`_, A new ``bt_log_idle_transitions`` parameter has been added to the BT navigator. When set to ``true`` (default), idle (no state change) transitions in the behavior tree are published to the ``/behavior_tree_log`` topic and console output. When ``false``, only state changes are logged, reducing topic and console noise. This is useful for debugging behavior tree execution without being overwhelmed by repetitive idle tick messages.
+
+New IsWithinPathTrackingBounds Node
+-----------------------------------
+
+In `PR 5983 <https://github.com/ros-navigation/navigation2/pull/5983>`_, a new behavior tree node, ``IsWithinPathTrackingBounds``, was added to check if the robot is within specified bounds of the path for tracking purposes. See the `demo <https://github.com/ros-navigation/navigation2/blob/main/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_bounds_check.xml>`_ for an example of how to use this node in a behavior tree.
diff --git a/plugins/index.rst b/plugins/index.rst
index 8060628c17..78f7cffa83 100644
--- a/plugins/index.rst
+++ b/plugins/index.rst
@@ -623,6 +623,10 @@ Behavior Tree Nodes
 |                                    |                    | near the goal based on |
 |                                    |                    | remaining path length. |
 +------------------------------------+--------------------+------------------------+
+| `Is Within Path Tracking Bounds    | Berkan Tali        | Checks if the robot is |
+| Condition`_                        |                    | within bounds for      |
+|                                    |                    | path tracking.         |
++------------------------------------+--------------------+------------------------+
 
 .. _Goal Reached Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_reached_condition.cpp
 .. _Goal Updated Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp
@@ -645,6 +649,7 @@ Behavior Tree Nodes
 .. _Are Poses Near Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/are_poses_near_condition.cpp
 .. _Is Pose Occupied Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_pose_occupied_condition.cpp
 .. _Is Goal Nearby Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_goal_nearby_condition.cpp
+.. _Is Within Path Tracking Bounds Condition: https://github.com/ros-navigation/navigation2/tree/main/nav2_behavior_tree/plugins/condition/is_within_path_tracking_bounds_condition.cpp
 
 +--------------------------+---------------------+----------------------------------+
 | Decorator Plugin Name    |    Creator          |       Description                |