diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
index 0d2240961a..8e4b119536 100644
--- a/nav2_behavior_tree/CMakeLists.txt
+++ b/nav2_behavior_tree/CMakeLists.txt
@@ -60,6 +60,15 @@ list(APPEND plugin_libs nav2_compute_path_through_poses_action_bt_node)
 add_library(nav2_controller_cancel_bt_node SHARED plugins/action/controller_cancel_node.cpp)
 list(APPEND plugin_libs nav2_controller_cancel_bt_node)
 
+add_library(nav2_wait_cancel_bt_node SHARED plugins/action/wait_cancel_node.cpp)
+list(APPEND plugin_libs nav2_wait_cancel_bt_node)
+
+add_library(nav2_spin_cancel_bt_node SHARED plugins/action/spin_cancel_node.cpp)
+list(APPEND plugin_libs nav2_spin_cancel_bt_node)
+
+add_library(nav2_back_up_cancel_bt_node SHARED plugins/action/back_up_cancel_node.cpp)
+list(APPEND plugin_libs nav2_back_up_cancel_bt_node)
+
 add_library(nav2_smooth_path_action_bt_node SHARED plugins/action/smooth_path_action.cpp)
 list(APPEND plugin_libs nav2_smooth_path_action_bt_node)
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_cancel_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_cancel_node.hpp
new file mode 100644
index 0000000000..d59bbff5a5
--- /dev/null
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_cancel_node.hpp
@@ -0,0 +1,59 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__BACK_UP_CANCEL_NODE_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__BACK_UP_CANCEL_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "nav2_msgs/action/back_up.hpp"
+
+#include "nav2_behavior_tree/bt_cancel_action_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::BackUp
+ */
+class BackUpCancel : public BtCancelActionNode<nav2_msgs::action::BackUp>
+{
+public:
+  /**
+   * @brief A constructor for nav2_behavior_tree::BackUpAction
+   * @param xml_tag_name Name for the XML tag for this node
+   * @param action_name Action name this node creates a client for
+   * @param conf BT node configuration
+   */
+  BackUpCancel(
+    const std::string & xml_tag_name,
+    const std::string & action_name,
+    const BT::NodeConfiguration & conf);
+
+  /**
+   * @brief Creates list of BT ports
+   * @return BT::PortsList Containing basic ports along with node-specific ports
+   */
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts(
+      {
+      });
+  }
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__BACK_UP_CANCEL_NODE_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_cancel_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_cancel_node.hpp
new file mode 100644
index 0000000000..0e747fa70d
--- /dev/null
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_cancel_node.hpp
@@ -0,0 +1,59 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SPIN_CANCEL_NODE_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SPIN_CANCEL_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "nav2_msgs/action/spin.hpp"
+
+#include "nav2_behavior_tree/bt_cancel_action_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::Wait
+ */
+class SpinCancel : public BtCancelActionNode<nav2_msgs::action::Spin>
+{
+public:
+  /**
+   * @brief A constructor for nav2_behavior_tree::WaitAction
+   * @param xml_tag_name Name for the XML tag for this node
+   * @param action_name Action name this node creates a client for
+   * @param conf BT node configuration
+   */
+  SpinCancel(
+    const std::string & xml_tag_name,
+    const std::string & action_name,
+    const BT::NodeConfiguration & conf);
+
+  /**
+   * @brief Creates list of BT ports
+   * @return BT::PortsList Containing basic ports along with node-specific ports
+   */
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts(
+      {
+      });
+  }
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__SPIN_CANCEL_NODE_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_cancel_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_cancel_node.hpp
new file mode 100644
index 0000000000..1545e9da2e
--- /dev/null
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_cancel_node.hpp
@@ -0,0 +1,59 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__WAIT_CANCEL_NODE_HPP_
+#define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__WAIT_CANCEL_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "nav2_msgs/action/wait.hpp"
+
+#include "nav2_behavior_tree/bt_cancel_action_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+/**
+ * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::Wait
+ */
+class WaitCancel : public BtCancelActionNode<nav2_msgs::action::Wait>
+{
+public:
+  /**
+   * @brief A constructor for nav2_behavior_tree::WaitAction
+   * @param xml_tag_name Name for the XML tag for this node
+   * @param action_name Action name this node creates a client for
+   * @param conf BT node configuration
+   */
+  WaitCancel(
+    const std::string & xml_tag_name,
+    const std::string & action_name,
+    const BT::NodeConfiguration & conf);
+
+  /**
+   * @brief Creates list of BT ports
+   * @return BT::PortsList Containing basic ports along with node-specific ports
+   */
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts(
+      {
+      });
+  }
+};
+
+}  // namespace nav2_behavior_tree
+
+#endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__WAIT_CANCEL_NODE_HPP_
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 1344ac7375..8a5e81a830 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -15,8 +15,24 @@
 
     <Action ID="CancelControl">
       <input_port name="service_name">Service name to cancel the controller server</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
     </Action>
-    
+
+    <Action ID="CancelBackUp">
+      <input_port name="service_name">Service name to cancel the backup recovery</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
+    </Action>
+
+    <Action ID="CancelSpin">
+      <input_port name="service_name">Service name to cancel the spin recovery</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
+    </Action>
+
+    <Action ID="CancelWait">
+      <input_port name="service_name">Service name to cancel the wait recovery</input_port>
+      <input_port name="server_timeout">Server timeout</input_port>
+    </Action>
+
     <Action ID="ClearEntireCostmap">
       <input_port name="service_name">Service name</input_port>
     </Action>
diff --git a/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp b/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp
new file mode 100644
index 0000000000..3baa1ffb1e
--- /dev/null
+++ b/nav2_behavior_tree/plugins/action/back_up_cancel_node.cpp
@@ -0,0 +1,47 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <memory>
+
+#include "std_msgs/msg/string.hpp"
+
+#include "nav2_behavior_tree/plugins/action/back_up_cancel_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+BackUpCancel::BackUpCancel(
+  const std::string & xml_tag_name,
+  const std::string & action_name,
+  const BT::NodeConfiguration & conf)
+: BtCancelActionNode<nav2_msgs::action::BackUp>(xml_tag_name, action_name, conf)
+{
+}
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  BT::NodeBuilder builder =
+    [](const std::string & name, const BT::NodeConfiguration & config)
+    {
+      return std::make_unique<nav2_behavior_tree::BackUpCancel>(
+        name, "backup", config);
+    };
+
+  factory.registerBuilder<nav2_behavior_tree::BackUpCancel>(
+    "CancelBackUp", builder);
+}
diff --git a/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp b/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp
new file mode 100644
index 0000000000..62ddbc4719
--- /dev/null
+++ b/nav2_behavior_tree/plugins/action/spin_cancel_node.cpp
@@ -0,0 +1,47 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <memory>
+
+#include "std_msgs/msg/string.hpp"
+
+#include "nav2_behavior_tree/plugins/action/spin_cancel_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+SpinCancel::SpinCancel(
+  const std::string & xml_tag_name,
+  const std::string & action_name,
+  const BT::NodeConfiguration & conf)
+: BtCancelActionNode<nav2_msgs::action::Spin>(xml_tag_name, action_name, conf)
+{
+}
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  BT::NodeBuilder builder =
+    [](const std::string & name, const BT::NodeConfiguration & config)
+    {
+      return std::make_unique<nav2_behavior_tree::SpinCancel>(
+        name, "spin", config);
+    };
+
+  factory.registerBuilder<nav2_behavior_tree::SpinCancel>(
+    "CancelSpin", builder);
+}
diff --git a/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp b/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp
new file mode 100644
index 0000000000..9365b7e06f
--- /dev/null
+++ b/nav2_behavior_tree/plugins/action/wait_cancel_node.cpp
@@ -0,0 +1,47 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <memory>
+
+#include "std_msgs/msg/string.hpp"
+
+#include "nav2_behavior_tree/plugins/action/wait_cancel_node.hpp"
+
+namespace nav2_behavior_tree
+{
+
+WaitCancel::WaitCancel(
+  const std::string & xml_tag_name,
+  const std::string & action_name,
+  const BT::NodeConfiguration & conf)
+: BtCancelActionNode<nav2_msgs::action::Wait>(xml_tag_name, action_name, conf)
+{
+}
+
+}  // namespace nav2_behavior_tree
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+BT_REGISTER_NODES(factory)
+{
+  BT::NodeBuilder builder =
+    [](const std::string & name, const BT::NodeConfiguration & config)
+    {
+      return std::make_unique<nav2_behavior_tree::WaitCancel>(
+        name, "wait", config);
+    };
+
+  factory.registerBuilder<nav2_behavior_tree::WaitCancel>(
+    "CancelWait", builder);
+}
diff --git a/nav2_behavior_tree/test/plugins/action/CMakeLists.txt b/nav2_behavior_tree/test/plugins/action/CMakeLists.txt
index a2f1d4cd1d..e719035a6a 100644
--- a/nav2_behavior_tree/test/plugins/action/CMakeLists.txt
+++ b/nav2_behavior_tree/test/plugins/action/CMakeLists.txt
@@ -19,6 +19,18 @@ ament_add_gtest(test_action_controller_cancel_action test_controller_cancel_node
 target_link_libraries(test_action_controller_cancel_action nav2_controller_cancel_bt_node)
 ament_target_dependencies(test_action_controller_cancel_action ${dependencies})
 
+ament_add_gtest(test_action_wait_cancel_action test_wait_cancel_node.cpp)
+target_link_libraries(test_action_wait_cancel_action nav2_wait_cancel_bt_node)
+ament_target_dependencies(test_action_wait_cancel_action ${dependencies})
+
+ament_add_gtest(test_action_spin_cancel_action test_spin_cancel_node.cpp)
+target_link_libraries(test_action_spin_cancel_action nav2_spin_cancel_bt_node)
+ament_target_dependencies(test_action_spin_cancel_action ${dependencies})
+
+ament_add_gtest(test_action_back_up_cancel_action test_back_up_cancel_node.cpp)
+target_link_libraries(test_action_back_up_cancel_action nav2_back_up_cancel_bt_node)
+ament_target_dependencies(test_action_back_up_cancel_action ${dependencies})
+
 ament_add_gtest(test_action_clear_costmap_service test_clear_costmap_service.cpp)
 target_link_libraries(test_action_clear_costmap_service nav2_clear_costmap_service_bt_node)
 ament_target_dependencies(test_action_clear_costmap_service ${dependencies})
diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp
new file mode 100644
index 0000000000..5bef6868e5
--- /dev/null
+++ b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp
@@ -0,0 +1,171 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+#include <memory>
+#include <set>
+#include <string>
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+#include "../../test_action_server.hpp"
+#include "nav2_behavior_tree/plugins/action/back_up_cancel_node.hpp"
+#include "lifecycle_msgs/srv/change_state.hpp"
+
+class CancelBackUpServer : public TestActionServer<nav2_msgs::action::BackUp>
+{
+public:
+  CancelBackUpServer()
+  : TestActionServer("back_up")
+  {}
+
+protected:
+  void execute(
+    const typename std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::BackUp>>
+    goal_handle)
+  {
+    while (!goal_handle->is_canceling()) {
+      // BackUping here until goal cancels
+      std::this_thread::sleep_for(std::chrono::milliseconds(15));
+    }
+  }
+};
+
+class CancelBackUpActionTestFixture : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    node_ = std::make_shared<rclcpp::Node>("cancel_back_up_action_test_fixture");
+    factory_ = std::make_shared<BT::BehaviorTreeFactory>();
+
+    config_ = new BT::NodeConfiguration();
+
+    // Create the blackboard that will be shared by all of the nodes in the tree
+    config_->blackboard = BT::Blackboard::create();
+    // Put items on the blackboard
+    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+      "node",
+      node_);
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "server_timeout",
+      std::chrono::milliseconds(20));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "bt_loop_duration",
+      std::chrono::milliseconds(10));
+    client_ = rclcpp_action::create_client<nav2_msgs::action::BackUp>(
+      node_, "back_up");
+
+    BT::NodeBuilder builder =
+      [](const std::string & name, const BT::NodeConfiguration & config)
+      {
+        return std::make_unique<nav2_behavior_tree::BackUpCancel>(
+          name, "back_up", config);
+      };
+
+    factory_->registerBuilder<nav2_behavior_tree::BackUpCancel>("CancelBackUp", builder);
+  }
+
+  static void TearDownTestCase()
+  {
+    delete config_;
+    config_ = nullptr;
+    node_.reset();
+    action_server_.reset();
+    factory_.reset();
+  }
+
+  void TearDown() override
+  {
+    tree_.reset();
+  }
+
+  static std::shared_ptr<CancelBackUpServer> action_server_;
+  static std::shared_ptr<rclcpp_action::Client<nav2_msgs::action::BackUp>> client_;
+
+protected:
+  static rclcpp::Node::SharedPtr node_;
+  static BT::NodeConfiguration * config_;
+  static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
+  static std::shared_ptr<BT::Tree> tree_;
+};
+
+rclcpp::Node::SharedPtr CancelBackUpActionTestFixture::node_ = nullptr;
+std::shared_ptr<CancelBackUpServer>
+CancelBackUpActionTestFixture::action_server_ = nullptr;
+std::shared_ptr<rclcpp_action::Client<nav2_msgs::action::BackUp>>
+CancelBackUpActionTestFixture::client_ = nullptr;
+
+BT::NodeConfiguration * CancelBackUpActionTestFixture::config_ = nullptr;
+std::shared_ptr<BT::BehaviorTreeFactory>
+CancelBackUpActionTestFixture::factory_ = nullptr;
+std::shared_ptr<BT::Tree> CancelBackUpActionTestFixture::tree_ = nullptr;
+
+TEST_F(CancelBackUpActionTestFixture, test_ports)
+{
+  std::string xml_txt =
+    R"(
+      <root main_tree_to_execute = "MainTree" >
+        <BehaviorTree ID="MainTree">
+             <CancelBackUp name="BackUpCancel"/>
+        </BehaviorTree>
+      </root>)";
+
+  tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
+  auto send_goal_options = rclcpp_action::Client<nav2_msgs::action::BackUp>::SendGoalOptions();
+
+  // Creating a dummy goal_msg
+  auto goal_msg = nav2_msgs::action::BackUp::Goal();
+
+  // Setting target pose
+  goal_msg.target.x = 0.5;
+
+  // BackUping for server and sending a goal
+  client_->wait_for_action_server();
+  client_->async_send_goal(goal_msg, send_goal_options);
+
+  // Adding a sleep so that the goal is indeed older than 10ms as described in our abstract class
+  std::this_thread::sleep_for(std::chrono::milliseconds(15));
+
+  // Executing tick
+  tree_->rootNode()->executeTick();
+
+  // BT node should return success, once when the goal is cancelled
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+
+  // Adding another test case to check if the goal is infact cancelling
+  EXPECT_EQ(action_server_->isGoalCancelled(), true);
+}
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  // initialize ROS
+  rclcpp::init(argc, argv);
+
+  // initialize action server and back_up on new thread
+  CancelBackUpActionTestFixture::action_server_ = std::make_shared<CancelBackUpServer>();
+  std::thread server_thread([]() {
+      rclcpp::spin(CancelBackUpActionTestFixture::action_server_);
+    });
+
+  int all_successful = RUN_ALL_TESTS();
+
+  // shutdown ROS
+  rclcpp::shutdown();
+  server_thread.join();
+
+  return all_successful;
+}
diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp
new file mode 100644
index 0000000000..7909067381
--- /dev/null
+++ b/nav2_behavior_tree/test/plugins/action/test_spin_cancel_node.cpp
@@ -0,0 +1,171 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+#include <memory>
+#include <set>
+#include <string>
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+#include "../../test_action_server.hpp"
+#include "nav2_behavior_tree/plugins/action/spin_cancel_node.hpp"
+#include "lifecycle_msgs/srv/change_state.hpp"
+
+class CancelSpinServer : public TestActionServer<nav2_msgs::action::Spin>
+{
+public:
+  CancelSpinServer()
+  : TestActionServer("spin")
+  {}
+
+protected:
+  void execute(
+    const typename std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::Spin>>
+    goal_handle)
+  {
+    while (!goal_handle->is_canceling()) {
+      // Spining here until goal cancels
+      std::this_thread::sleep_for(std::chrono::milliseconds(15));
+    }
+  }
+};
+
+class CancelSpinActionTestFixture : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    node_ = std::make_shared<rclcpp::Node>("cancel_spin_action_test_fixture");
+    factory_ = std::make_shared<BT::BehaviorTreeFactory>();
+
+    config_ = new BT::NodeConfiguration();
+
+    // Create the blackboard that will be shared by all of the nodes in the tree
+    config_->blackboard = BT::Blackboard::create();
+    // Put items on the blackboard
+    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+      "node",
+      node_);
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "server_timeout",
+      std::chrono::milliseconds(20));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "bt_loop_duration",
+      std::chrono::milliseconds(10));
+    client_ = rclcpp_action::create_client<nav2_msgs::action::Spin>(
+      node_, "spin");
+
+    BT::NodeBuilder builder =
+      [](const std::string & name, const BT::NodeConfiguration & config)
+      {
+        return std::make_unique<nav2_behavior_tree::SpinCancel>(
+          name, "spin", config);
+      };
+
+    factory_->registerBuilder<nav2_behavior_tree::SpinCancel>("CancelSpin", builder);
+  }
+
+  static void TearDownTestCase()
+  {
+    delete config_;
+    config_ = nullptr;
+    node_.reset();
+    action_server_.reset();
+    factory_.reset();
+  }
+
+  void TearDown() override
+  {
+    tree_.reset();
+  }
+
+  static std::shared_ptr<CancelSpinServer> action_server_;
+  static std::shared_ptr<rclcpp_action::Client<nav2_msgs::action::Spin>> client_;
+
+protected:
+  static rclcpp::Node::SharedPtr node_;
+  static BT::NodeConfiguration * config_;
+  static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
+  static std::shared_ptr<BT::Tree> tree_;
+};
+
+rclcpp::Node::SharedPtr CancelSpinActionTestFixture::node_ = nullptr;
+std::shared_ptr<CancelSpinServer>
+CancelSpinActionTestFixture::action_server_ = nullptr;
+std::shared_ptr<rclcpp_action::Client<nav2_msgs::action::Spin>>
+CancelSpinActionTestFixture::client_ = nullptr;
+
+BT::NodeConfiguration * CancelSpinActionTestFixture::config_ = nullptr;
+std::shared_ptr<BT::BehaviorTreeFactory>
+CancelSpinActionTestFixture::factory_ = nullptr;
+std::shared_ptr<BT::Tree> CancelSpinActionTestFixture::tree_ = nullptr;
+
+TEST_F(CancelSpinActionTestFixture, test_ports)
+{
+  std::string xml_txt =
+    R"(
+      <root main_tree_to_execute = "MainTree" >
+        <BehaviorTree ID="MainTree">
+             <CancelSpin name="SpinCancel"/>
+        </BehaviorTree>
+      </root>)";
+
+  tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
+  auto send_goal_options = rclcpp_action::Client<nav2_msgs::action::Spin>::SendGoalOptions();
+
+  // Creating a dummy goal_msg
+  auto goal_msg = nav2_msgs::action::Spin::Goal();
+
+  // Setting target yaw
+  goal_msg.target_yaw = 1.57;
+
+  // Spining for server and sending a goal
+  client_->wait_for_action_server();
+  client_->async_send_goal(goal_msg, send_goal_options);
+
+  // Adding a sleep so that the goal is indeed older than 10ms as described in our abstract class
+  std::this_thread::sleep_for(std::chrono::milliseconds(15));
+
+  // Executing tick
+  tree_->rootNode()->executeTick();
+
+  // BT node should return success, once when the goal is cancelled
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+
+  // Adding another test case to check if the goal is infact cancelling
+  EXPECT_EQ(action_server_->isGoalCancelled(), true);
+}
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  // initialize ROS
+  rclcpp::init(argc, argv);
+
+  // initialize action server and spin on new thread
+  CancelSpinActionTestFixture::action_server_ = std::make_shared<CancelSpinServer>();
+  std::thread server_thread([]() {
+      rclcpp::spin(CancelSpinActionTestFixture::action_server_);
+    });
+
+  int all_successful = RUN_ALL_TESTS();
+
+  // shutdown ROS
+  rclcpp::shutdown();
+  server_thread.join();
+
+  return all_successful;
+}
diff --git a/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp
new file mode 100644
index 0000000000..9e72f1413c
--- /dev/null
+++ b/nav2_behavior_tree/test/plugins/action/test_wait_cancel_node.cpp
@@ -0,0 +1,171 @@
+// Copyright (c) 2022 Neobotix GmbH
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+#include <memory>
+#include <set>
+#include <string>
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+#include "../../test_action_server.hpp"
+#include "nav2_behavior_tree/plugins/action/wait_cancel_node.hpp"
+#include "lifecycle_msgs/srv/change_state.hpp"
+
+class CancelWaitServer : public TestActionServer<nav2_msgs::action::Wait>
+{
+public:
+  CancelWaitServer()
+  : TestActionServer("wait")
+  {}
+
+protected:
+  void execute(
+    const typename std::shared_ptr<rclcpp_action::ServerGoalHandle<nav2_msgs::action::Wait>>
+    goal_handle)
+  {
+    while (!goal_handle->is_canceling()) {
+      // waiting here until goal cancels
+      std::this_thread::sleep_for(std::chrono::milliseconds(15));
+    }
+  }
+};
+
+class CancelWaitActionTestFixture : public ::testing::Test
+{
+public:
+  static void SetUpTestCase()
+  {
+    node_ = std::make_shared<rclcpp::Node>("cancel_wait_action_test_fixture");
+    factory_ = std::make_shared<BT::BehaviorTreeFactory>();
+
+    config_ = new BT::NodeConfiguration();
+
+    // Create the blackboard that will be shared by all of the nodes in the tree
+    config_->blackboard = BT::Blackboard::create();
+    // Put items on the blackboard
+    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+      "node",
+      node_);
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "server_timeout",
+      std::chrono::milliseconds(20));
+    config_->blackboard->set<std::chrono::milliseconds>(
+      "bt_loop_duration",
+      std::chrono::milliseconds(10));
+    client_ = rclcpp_action::create_client<nav2_msgs::action::Wait>(
+      node_, "wait");
+
+    BT::NodeBuilder builder =
+      [](const std::string & name, const BT::NodeConfiguration & config)
+      {
+        return std::make_unique<nav2_behavior_tree::WaitCancel>(
+          name, "wait", config);
+      };
+
+    factory_->registerBuilder<nav2_behavior_tree::WaitCancel>("CancelWait", builder);
+  }
+
+  static void TearDownTestCase()
+  {
+    delete config_;
+    config_ = nullptr;
+    node_.reset();
+    action_server_.reset();
+    factory_.reset();
+  }
+
+  void TearDown() override
+  {
+    tree_.reset();
+  }
+
+  static std::shared_ptr<CancelWaitServer> action_server_;
+  static std::shared_ptr<rclcpp_action::Client<nav2_msgs::action::Wait>> client_;
+
+protected:
+  static rclcpp::Node::SharedPtr node_;
+  static BT::NodeConfiguration * config_;
+  static std::shared_ptr<BT::BehaviorTreeFactory> factory_;
+  static std::shared_ptr<BT::Tree> tree_;
+};
+
+rclcpp::Node::SharedPtr CancelWaitActionTestFixture::node_ = nullptr;
+std::shared_ptr<CancelWaitServer>
+CancelWaitActionTestFixture::action_server_ = nullptr;
+std::shared_ptr<rclcpp_action::Client<nav2_msgs::action::Wait>>
+CancelWaitActionTestFixture::client_ = nullptr;
+
+BT::NodeConfiguration * CancelWaitActionTestFixture::config_ = nullptr;
+std::shared_ptr<BT::BehaviorTreeFactory>
+CancelWaitActionTestFixture::factory_ = nullptr;
+std::shared_ptr<BT::Tree> CancelWaitActionTestFixture::tree_ = nullptr;
+
+TEST_F(CancelWaitActionTestFixture, test_ports)
+{
+  std::string xml_txt =
+    R"(
+      <root main_tree_to_execute = "MainTree" >
+        <BehaviorTree ID="MainTree">
+             <CancelWait name="WaitCancel"/>
+        </BehaviorTree>
+      </root>)";
+
+  tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
+  auto send_goal_options = rclcpp_action::Client<nav2_msgs::action::Wait>::SendGoalOptions();
+
+  // Creating a dummy goal_msg
+  auto goal_msg = nav2_msgs::action::Wait::Goal();
+
+  // Setting a waiting time for 5 Seconds.
+  goal_msg.time.sec = 5;
+
+  // Waiting for server and sending a goal
+  client_->wait_for_action_server();
+  client_->async_send_goal(goal_msg, send_goal_options);
+
+  // Adding a sleep so that the goal is indeed older than 10ms as described in our abstract class
+  std::this_thread::sleep_for(std::chrono::milliseconds(15));
+
+  // Executing tick
+  tree_->rootNode()->executeTick();
+
+  // BT node should return success, once when the goal is cancelled
+  EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::SUCCESS);
+
+  // Adding another test case to check if the goal is infact cancelling
+  EXPECT_EQ(action_server_->isGoalCancelled(), true);
+}
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  // initialize ROS
+  rclcpp::init(argc, argv);
+
+  // initialize action server and spin on new thread
+  CancelWaitActionTestFixture::action_server_ = std::make_shared<CancelWaitServer>();
+  std::thread server_thread([]() {
+      rclcpp::spin(CancelWaitActionTestFixture::action_server_);
+    });
+
+  int all_successful = RUN_ALL_TESTS();
+
+  // shutdown ROS
+  rclcpp::shutdown();
+  server_thread.join();
+
+  return all_successful;
+}
diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
index 137fd5baf0..6f82ff9da9 100644
--- a/nav2_bringup/params/nav2_multirobot_params_1.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -95,6 +95,9 @@ bt_navigator:
     - nav2_controller_selector_bt_node
     - nav2_goal_checker_selector_bt_node
     - nav2_controller_cancel_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
index 5c96d4d41c..2046dd823e 100644
--- a/nav2_bringup/params/nav2_multirobot_params_2.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -95,6 +95,9 @@ bt_navigator:
     - nav2_controller_selector_bt_node
     - nav2_goal_checker_selector_bt_node
     - nav2_controller_cancel_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index fe30862e98..e0ae510e76 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -95,6 +95,9 @@ bt_navigator:
     - nav2_controller_selector_bt_node
     - nav2_goal_checker_selector_bt_node
     - nav2_controller_cancel_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
index dee7542b0d..f6d49d1350 100644
--- a/nav2_bt_navigator/src/bt_navigator.cpp
+++ b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -68,7 +68,10 @@ BtNavigator::BtNavigator(const rclcpp::NodeOptions & options)
     "nav2_planner_selector_bt_node",
     "nav2_controller_selector_bt_node",
     "nav2_goal_checker_selector_bt_node",
-    "nav2_controller_cancel_bt_node"
+    "nav2_controller_cancel_bt_node",
+    "nav2_wait_cancel_bt_node",
+    "nav2_spin_cancel_bt_node",
+    "nav2_back_up_cancel_bt_node"
   };
 
   declare_parameter("plugin_lib_names", plugin_libs);
diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
index 15a1c24df7..21a7ddab0a 100644
--- a/nav2_system_tests/src/costmap_filters/keepout_params.yaml
+++ b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
@@ -89,6 +89,9 @@ bt_navigator:
     - nav2_navigate_to_pose_action_bt_node
     - nav2_remove_passed_goals_action_bt_node
     - nav2_controller_cancel_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
index ce9d7c0305..def48882c6 100644
--- a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
+++ b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
@@ -90,6 +90,9 @@ bt_navigator:
     - nav2_navigate_to_pose_action_bt_node
     - nav2_remove_passed_goals_action_bt_node
     - nav2_controller_cancel_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
index 2adec089ff..b4ead39bc9 100644
--- a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
+++ b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
@@ -90,6 +90,9 @@ bt_navigator:
     - nav2_navigate_to_pose_action_bt_node
     - nav2_remove_passed_goals_action_bt_node
     - nav2_controller_cancel_bt_node
+    - nav2_wait_cancel_bt_node
+    - nav2_spin_cancel_bt_node
+    - nav2_back_up_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters: