Action server failed while executing action callback

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Hello,

I'm having this error when using bt-navigator on ros foxy. I'm using robot_localization for the localization of the robot and slam for mapping. I don't know how to solve it neither where to start searching. The error is the following: " Action server failed while executing action callback: "One of the children of a DecoratorNode or ControlNode is nullptr" The error happens when I use the tool 2D pose to send a goal on rviz2.

My params file:

ekf_filter_node:
 ros__parameters:
    frequency: 20.0
    two_d_mode: false 
    publish_acceleration: false
    publish_tf: true 

    map_frame: map              
    odom_frame: odom            
    base_link_frame: base_link  
    world_frame: odom           

    odom0: /lgsvl/gps/odom
    odom0_config: [true,  true,  true,
                   false, false, false,
                   false, false, false,
                   false, false, true,
                   false, false, false]

    imu0: /lgsvl/imu
    imu0_config: [false, false, false,
                  true,  true,  true,
                  false, false, false,
                  false, false, false,
                  false, false, false]

    process_noise_covariance: [0.05, 0.0,    0.0,    0.0,    0.0,   
    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.05, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.06, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.03, 0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.0,    0.03, 0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.0,    0.0,    0.06, 0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.025, 0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.025, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.04, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.01, 0.0,    0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.01, 0.0,    0.0,    0.0,    0.0,
    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.02, 0.0,    0.0,    0.0 ...