diff --git a/plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp b/plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp
index ce5c810..3b8e083 100644
--- a/plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp
+++ b/plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp
@@ -17,6 +17,7 @@
 
 #include <string>
 #include <map>
+#include <memory>
 
 #include "geometry_msgs/msg/pose.hpp"
 #include "nav2_msgs/action/navigate_to_pose.hpp"
@@ -39,6 +40,9 @@ class Move : public plansys2::BtActionNode<
 
   BT::NodeStatus on_tick() override;
   BT::NodeStatus on_success() override;
+  void on_feedback(
+    const std::shared_ptr<const nav2_msgs::action::NavigateToPose::Feedback> feedback)
+  override;
 
   static BT::PortsList providedPorts()
   {
diff --git a/plansys2_bt_example/src/behavior_tree_nodes/ApproachObject.cpp b/plansys2_bt_example/src/behavior_tree_nodes/ApproachObject.cpp
index fd5649b..5cadfb1 100644
--- a/plansys2_bt_example/src/behavior_tree_nodes/ApproachObject.cpp
+++ b/plansys2_bt_example/src/behavior_tree_nodes/ApproachObject.cpp
@@ -14,6 +14,7 @@
 
 #include <string>
 #include <iostream>
+#include <algorithm>
 
 #include "plansys2_bt_example/behavior_tree_nodes/ApproachObject.hpp"
 
@@ -40,6 +41,9 @@ ApproachObject::tick()
 {
   std::cout << "ApproachObject tick " << counter_ << std::endl;
 
+  float completion = std::min(1.0f, counter_ / 5.0f);
+  config().blackboard->set<float>("completion", completion);
+
   if (counter_++ < 5) {
     return BT::NodeStatus::RUNNING;
   } else {
diff --git a/plansys2_bt_example/src/behavior_tree_nodes/CloseGripper.cpp b/plansys2_bt_example/src/behavior_tree_nodes/CloseGripper.cpp
index 4fa8948..1792b55 100644
--- a/plansys2_bt_example/src/behavior_tree_nodes/CloseGripper.cpp
+++ b/plansys2_bt_example/src/behavior_tree_nodes/CloseGripper.cpp
@@ -14,6 +14,7 @@
 
 #include <string>
 #include <iostream>
+#include <algorithm>
 
 #include "plansys2_bt_example/behavior_tree_nodes/CloseGripper.hpp"
 
@@ -40,6 +41,9 @@ CloseGripper::tick()
 {
   std::cout << "CloseGripper tick " << counter_ << std::endl;
 
+  float completion = std::min(1.0f, counter_ / 5.0f);
+  config().blackboard->set<float>("completion", completion);
+
   if (counter_++ < 5) {
     return BT::NodeStatus::RUNNING;
   } else {
diff --git a/plansys2_bt_example/src/behavior_tree_nodes/Move.cpp b/plansys2_bt_example/src/behavior_tree_nodes/Move.cpp
index 61e87e5..dea7103 100644
--- a/plansys2_bt_example/src/behavior_tree_nodes/Move.cpp
+++ b/plansys2_bt_example/src/behavior_tree_nodes/Move.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <algorithm>
 #include <string>
 #include <iostream>
 #include <vector>
@@ -107,9 +108,21 @@ Move::on_tick()
 BT::NodeStatus
 Move::on_success()
 {
+  config().blackboard->set<float>("completion", 1.0f);
   return BT::NodeStatus::SUCCESS;
 }
 
+void
+Move::on_feedback(
+  const std::shared_ptr<const nav2_msgs::action::NavigateToPose::Feedback> feedback)
+{
+  // nav2_sim sends distance_remaining counting down from ~10 to ~0
+  constexpr float kInitialDistance = 10.0f;
+  float completion = 1.0f - std::min(
+    1.0f, std::max(0.0f, feedback->distance_remaining / kInitialDistance));
+  config().blackboard->set<float>("completion", completion);
+}
+
 
 }  // namespace plansys2_bt_tests
 
diff --git a/plansys2_bt_example/src/behavior_tree_nodes/OpenGripper.cpp b/plansys2_bt_example/src/behavior_tree_nodes/OpenGripper.cpp
index 1c21991..f1a1dc5 100644
--- a/plansys2_bt_example/src/behavior_tree_nodes/OpenGripper.cpp
+++ b/plansys2_bt_example/src/behavior_tree_nodes/OpenGripper.cpp
@@ -14,6 +14,7 @@
 
 #include <string>
 #include <iostream>
+#include <algorithm>
 
 #include "plansys2_bt_example/behavior_tree_nodes/OpenGripper.hpp"
 
@@ -40,6 +41,9 @@ OpenGripper::tick()
 {
   std::cout << "OpenGripper tick " << counter_ << std::endl;
 
+  float completion = std::min(1.0f, counter_ / 5.0f);
+  config().blackboard->set<float>("completion", completion);
+
   if (counter_++ < 5) {
     return BT::NodeStatus::RUNNING;
   } else {
diff --git a/plansys2_bt_example/src/behavior_tree_nodes/Recharge.cpp b/plansys2_bt_example/src/behavior_tree_nodes/Recharge.cpp
index 0502114..a46ba32 100644
--- a/plansys2_bt_example/src/behavior_tree_nodes/Recharge.cpp
+++ b/plansys2_bt_example/src/behavior_tree_nodes/Recharge.cpp
@@ -14,6 +14,7 @@
 
 #include <string>
 #include <iostream>
+#include <algorithm>
 
 #include "plansys2_bt_example/behavior_tree_nodes/Recharge.hpp"
 
@@ -40,6 +41,9 @@ Recharge::tick()
 {
   std::cout << "Recharge tick " << counter_ << std::endl;
 
+  float completion = std::min(1.0f, counter_ / 10.0f);
+  config().blackboard->set<float>("completion", completion);
+
   if (counter_++ < 10) {
     return BT::NodeStatus::RUNNING;
   } else {