diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 925e9c35797..b98e07ed175 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -14,6 +14,7 @@
       <input_port name="server_name">Server name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
       <output_port name="error_code_id">"Back up error code"</output_port>
+      <output_port name="error_msg">"Back up error message"</output_port>
     </Action>
 
     <Action ID="DriveOnHeading">
@@ -23,6 +24,7 @@
       <input_port name="server_name">Server name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
       <output_port name="error_code_id">"Drive on heading error code"</output_port>
+      <output_port name="error_msg">"Drive on heading error message"</output_port>
     </Action>
 
     <Action ID="CancelControl">
@@ -80,6 +82,7 @@
       <input_port name="server_timeout">Server timeout</input_port>
       <output_port name="path">Path created by ComputePathToPose node</output_port>
       <output_port name="error_code_id">"Compute path to pose error code"</output_port>
+      <output_port name="error_msg">"Compute path to pose error message"</output_port>
     </Action>
 
     <Action ID="ComputePathThroughPoses">
@@ -90,6 +93,7 @@
       <input_port name="planner_id">Mapped name to the planner plugin type to use</input_port>
       <output_port name="path">Path created by ComputePathToPose node</output_port>
       <output_port name="error_code_id">"Compute path through poses error code"</output_port>
+      <output_port name="error_msg">"Compute path through poses error message"</output_port>
     </Action>
 
     <Action ID="RemovePassedGoals">
@@ -118,6 +122,7 @@
       <input_port name="service_name">Service name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
       <output_port name="error_code_id">Follow Path error code</output_port>
+      <output_port name="error_msg">Follow Path error message</output_port>
     </Action>
 
     <Action ID="NavigateToPose">
@@ -126,6 +131,7 @@
         <input_port name="server_timeout">Server timeout</input_port>
         <input_port name="behavior_tree">Behavior tree to run</input_port>
         <output_port name="error_code_id">Navigate to pose error code</output_port>
+        <output_port name="error_msg">Navigate to pose error message</output_port>
     </Action>
 
     <Action ID="NavigateThroughPoses">
@@ -134,6 +140,7 @@
         <input_port name="server_timeout">Server timeout</input_port>
         <input_port name="behavior_tree">Behavior tree to run</input_port>
         <output_port name="error_code_id">Navigate through poses error code</output_port>
+        <output_port name="error_msg">Navigate through poses error message</output_port>
     </Action>
 
     <Action ID="ReinitializeGlobalLocalization">
@@ -194,6 +201,7 @@
       <input_port name="server_name">Server name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
       <output_port name="error_code_id">Spin error code</output_port>
+      <output_port name="error_msg">Spin error message</output_port>
     </Action>
 
     <Action ID="Wait">
@@ -208,6 +216,7 @@
       <input_port name="server_name">Service name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
       <output_port name="error_code_id">Assisted teleop error code</output_port>
+      <output_port name="error_msg">Assisted teleop error message</output_port>
     </Action>
 
     <!-- ############################### CONDITION NODES ############################## -->