diff --git a/jani_generator/test/_test_data/robot_navigation_with_bt/bt.xml b/jani_generator/test/_test_data/robot_navigation_with_bt/bt.xml
new file mode 100644
index 00000000..ac5ca653
--- /dev/null
+++ b/jani_generator/test/_test_data/robot_navigation_with_bt/bt.xml
@@ -0,0 +1,13 @@
+
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\ No newline at end of file
diff --git a/jani_generator/test/_test_data/robot_navigation_with_bt/bt_drive_robot.scxml b/jani_generator/test/_test_data/robot_navigation_with_bt/bt_drive_robot.scxml
new file mode 100644
index 00000000..6c1585f6
--- /dev/null
+++ b/jani_generator/test/_test_data/robot_navigation_with_bt/bt_drive_robot.scxml
@@ -0,0 +1,57 @@
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diff --git a/jani_generator/test/_test_data/robot_navigation_with_bt/bt_goal_check.scxml b/jani_generator/test/_test_data/robot_navigation_with_bt/bt_goal_check.scxml
new file mode 100644
index 00000000..a0c3d5b1
--- /dev/null
+++ b/jani_generator/test/_test_data/robot_navigation_with_bt/bt_goal_check.scxml
@@ -0,0 +1,49 @@
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diff --git a/jani_generator/test/_test_data/robot_navigation_with_bt/main.xml b/jani_generator/test/_test_data/robot_navigation_with_bt/main.xml
new file mode 100644
index 00000000..3aacad15
--- /dev/null
+++ b/jani_generator/test/_test_data/robot_navigation_with_bt/main.xml
@@ -0,0 +1,19 @@
+
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\ No newline at end of file
diff --git a/jani_generator/test/_test_data/robot_navigation_with_bt/properties.jani b/jani_generator/test/_test_data/robot_navigation_with_bt/properties.jani
new file mode 100644
index 00000000..0bd58782
--- /dev/null
+++ b/jani_generator/test/_test_data/robot_navigation_with_bt/properties.jani
@@ -0,0 +1,67 @@
+{
+ "properties": [
+ {
+ "name": "goal_reached",
+ "expression": {
+ "op": "filter",
+ "fun": "values",
+ "values": {
+ "op": "Pmin",
+ "exp": {
+ "op": "U",
+ "left": {
+ "op": "∧",
+ "left": {
+ "op": "<",
+ "left": {
+ "op": "abs",
+ "exp": "topic_robot_pose_msg.ros_fields__x"
+ },
+ "right": 10.0
+ },
+ "right": {
+ "op": "<",
+ "left": {
+ "op": "abs",
+ "exp": "topic_robot_pose_msg.ros_fields__y"
+ },
+ "right": 10.0
+ }
+ },
+ "right": {
+ "comment": "Goal reached",
+ "op": "∧",
+ "left": {
+ "op": "<",
+ "left": {
+ "op": "abs",
+ "exp": {
+ "op": "-",
+ "left": "topic_robot_pose_msg.ros_fields__x",
+ "right": 5.0
+ }
+ },
+ "right": 0.5
+ },
+ "right": {
+ "op": "<",
+ "left": {
+ "op": "abs",
+ "exp": {
+ "op": "-",
+ "left": "topic_robot_pose_msg.ros_fields__y",
+ "right": -2.0
+ }
+ },
+ "right": 0.5
+ }
+ }
+ }
+ },
+ "states": {
+ "op": "initial"
+ }
+ }
+ }
+ ]
+}
\ No newline at end of file
diff --git a/jani_generator/test/_test_data/robot_navigation_with_bt/robot_platform.scxml b/jani_generator/test/_test_data/robot_navigation_with_bt/robot_platform.scxml
new file mode 100644
index 00000000..dca1137d
--- /dev/null
+++ b/jani_generator/test/_test_data/robot_navigation_with_bt/robot_platform.scxml
@@ -0,0 +1,70 @@
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