diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
index 4513c3cd56..c1b613d5f1 100644
--- a/nav2_bringup/params/nav2_multirobot_params_1.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -64,9 +64,10 @@ bt_navigator:
     - nav2_compute_path_through_poses_action_bt_node
     - nav2_smooth_path_action_bt_node
     - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
     - nav2_spin_action_bt_node
     - nav2_wait_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_drive_on_heading_bt_node
     - nav2_clear_costmap_service_bt_node
     - nav2_is_stuck_condition_bt_node
     - nav2_goal_reached_condition_bt_node
@@ -100,6 +101,7 @@ bt_navigator:
     - nav2_wait_cancel_bt_node
     - nav2_spin_cancel_bt_node
     - nav2_back_up_cancel_bt_node
+    - nav2_drive_on_heading_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
@@ -265,11 +267,13 @@ behavior_server:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    behavior_plugins: ["spin", "backup", "wait"]
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
       plugin: "nav2_behaviors/Spin"
     backup:
       plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
     wait:
       plugin: "nav2_behaviors/Wait"
     global_frame: odom
diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
index dc08b04cb4..87538cf712 100644
--- a/nav2_bringup/params/nav2_multirobot_params_2.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -64,9 +64,10 @@ bt_navigator:
     - nav2_compute_path_through_poses_action_bt_node
     - nav2_smooth_path_action_bt_node
     - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
     - nav2_spin_action_bt_node
     - nav2_wait_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_drive_on_heading_bt_node
     - nav2_clear_costmap_service_bt_node
     - nav2_is_stuck_condition_bt_node
     - nav2_goal_reached_condition_bt_node
@@ -100,6 +101,7 @@ bt_navigator:
     - nav2_wait_cancel_bt_node
     - nav2_spin_cancel_bt_node
     - nav2_back_up_cancel_bt_node
+    - nav2_drive_on_heading_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
@@ -265,11 +267,13 @@ behavior_server:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    behavior_plugins: ["spin", "backup", "wait"]
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
       plugin: "nav2_behaviors/Spin"
     backup:
       plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
     wait:
       plugin: "nav2_behaviors/Wait"
     global_frame: odom
diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index b6af9e8781..ca9d55917c 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -64,9 +64,10 @@ bt_navigator:
     - nav2_compute_path_through_poses_action_bt_node
     - nav2_smooth_path_action_bt_node
     - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
     - nav2_spin_action_bt_node
     - nav2_wait_action_bt_node
+    - nav2_back_up_action_bt_node
+    - nav2_drive_on_heading_bt_node
     - nav2_clear_costmap_service_bt_node
     - nav2_is_stuck_condition_bt_node
     - nav2_goal_reached_condition_bt_node
@@ -100,6 +101,7 @@ bt_navigator:
     - nav2_wait_cancel_bt_node
     - nav2_spin_cancel_bt_node
     - nav2_back_up_cancel_bt_node
+    - nav2_drive_on_heading_cancel_bt_node
 
 bt_navigator_rclcpp_node:
   ros__parameters:
@@ -312,11 +314,13 @@ behavior_server:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    behavior_plugins: ["spin", "backup", "wait"]
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
       plugin: "nav2_behaviors/Spin"
     backup:
       plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
     wait:
       plugin: "nav2_behaviors/Wait"
     global_frame: odom