[bt_navigator]: Action server failed while executing action callback: "One of the children of a DecoratorNode or ControlNode is nullptr"

edit

For a bit of context : I'm not fully understanding how the nav2 package work so I might be inacurate, feel free to correct me ! I'm using ros Foxy on ubuntu 20.04, rviz2 and gazebo 11.

My goal is to move my robot from point A to point B using nav2, to do so I believe I have to set a 2D starting pose estimate on rviz2 and then a 2D pose goal. Everything work fine until I set this goal where the bt_navigator send this error on my terminal :

[bt_navigator]: Action server failed while executing action callback: "One of the children of a DecoratorNode or ControlNode is nullptr"
[bt_navigator-12] [WARN] [1653469056.049863668] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

here is the previous lines in case :

[rviz2-15] [INFO] [1653469032.586736918] [rviz2]: Trying to create a map of size 1000 x 1000 using 1 swatches
[rviz2-15] [ERROR] [1653469032.695960860] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : 
[rviz2-15] active samplers with a different type refer to the same texture image unit
[INFO] [harrowbot_ui-1]: process has finished cleanly [pid 31290]
[rviz2-15] [INFO] [1653469051.876974783] [rviz2]: Setting estimate pose: Frame:odom, Position(-0.0527983, 0.134308, 0), Orientation(0, 0, 0.0319221, 0.99949) = Angle: 0.063855
[rviz2-15] [INFO] [1653469055.959320211] [rviz2]: Setting goal pose: Frame:odom, Position(3.24848, 0.127145, 0), Orientation(0, 0, 0.0764996, 0.99707) = Angle: 0.153149
[bt_navigator-12] [INFO] [1653469055.993426860] [bt_navigator]: Begin navigating from current location to (3.25, 0.13)

Here is my nav2_param.yaml file :

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    enable_groot_monitoring: True
    groot_zmq_publisher_port: 1666
    groot_zmq_server_port: 1667
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    plugin_lib_names:
    - nav2_compute_path_to_pose_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_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node
    - nav2_is_battery_low_condition_bt_node
    - nav2_navigate_to_pose_action_bt_node

bt_navigator_rclcpp_node:
  ros__parameters:
    use_sim_time: True

map_server:
  ros__parameters:
    use_sim_time: True
    yaml_filename: "turtlebot3_world.yaml"

map_saver:
  ros__parameters:
    use_sim_time: True
    save_map_timeout: 5.0
    free_thresh_default: 0.25
    occupied_thresh_default: 0.65
    map_subscribe_transient_local: True


local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link
      use_sim_time: True
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      footprint: "[ [0.496, 0.433], [0.496, -0.433], [-0.312, -0.433], [-0.312, 0.433] ]"
      plugins: ["voxel_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
        inflation_radius: 0.55
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5
          obstacle_min_range: 0.0
      static_layer:
        map_subscribe_transient_local: True
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: True
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link
      use_sim_time: True
      robot_radius: 0.5
      resolution: 0.05
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer ...