diff --git a/nav2_bt_navigator/behavior_trees/follow_point.xml b/nav2_bt_navigator/behavior_trees/follow_point.xml
index 9f55ecd66ec..ec16bf63051 100644
--- a/nav2_bt_navigator/behavior_trees/follow_point.xml
+++ b/nav2_bt_navigator/behavior_trees/follow_point.xml
@@ -10,13 +10,13 @@
       <RateController hz="1.0">
         <Sequence>
           <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}">
-            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{updated_goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
           </GoalUpdater>
          <TruncatePath distance="1.0" input_path="{path}" output_path="{truncated_path}"/>
         </Sequence>
       </RateController>
       <KeepRunningUntilFailure>
-        <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+        <FollowPath path="{truncated_path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
       </KeepRunningUntilFailure>
     </PipelineSequence>
   </BehaviorTree>
diff --git a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
index b2cb86113e5..13dd8465410 100644
--- a/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
@@ -21,13 +21,13 @@
                 </Inverter>
                 <IsPathValid path="{path}"/>
               </ReactiveSequence>
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
index 501034d6740..a2e07e87292 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
@@ -13,7 +13,7 @@
           <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
             <ReactiveSequence>
               <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
-              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             </ReactiveSequence>
             <Sequence>
               <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
@@ -22,7 +22,7 @@
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
           <Sequence>
             <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
@@ -41,9 +41,9 @@
               <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
-            <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
+            <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
index f135107c5b1..377808b3ad2 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
@@ -12,7 +12,7 @@
         <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             <Sequence>
               <WouldAPlannerRecoveryHelp error_code="{compute_path_error_code}"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
@@ -20,7 +20,7 @@
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="FollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
           <Sequence>
             <WouldAControllerRecoveryHelp error_code="{follow_path_error_code}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
@@ -39,9 +39,9 @@
               <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
               <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
             </Sequence>
-            <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
+            <Spin spin_dist="1.57" error_code_id="{spin_error_code}" error_msg="{spin_error_msg}"/>
             <Wait wait_duration="5.0"/>
-            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}"/>
+            <BackUp backup_dist="0.30" backup_speed="0.15" error_code_id="{backup_code_id}" error_msg="{backup_codmsg}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
index 0b9bccf3abe..5a81b812bd8 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
@@ -13,7 +13,7 @@
         <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
         <RateController hz="1.0">
           <RecoveryNode number_of_retries="1" name="ComputePathToPose">
-            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+            <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
@@ -27,7 +27,7 @@
             </RetryUntilSuccessful>
           </PathLongerOnApproach>
           <RecoveryNode number_of_retries="1" name="FollowPath">
-            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+            <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
             <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
           </RecoveryNode>
         </ReactiveSequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
index 3575740252d..2ad3c0b6aa7 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
@@ -19,13 +19,13 @@
                 </Inverter>
                 <IsPathValid path="{path}"/>
               </ReactiveSequence>
-              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+              <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
             </Fallback>
             <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
           </RecoveryNode>
         </RateController>
         <RecoveryNode number_of_retries="1" name="RecoveryFollowPath">
-          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+          <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
           <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
         </RecoveryNode>
       </PipelineSequence>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml
index 16f7ede4b3e..cba0d5957c4 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_distance.xml
@@ -8,9 +8,9 @@
       <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
       <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <DistanceController distance="1.0">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
       </DistanceController>
-      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
index a214c9b64fd..9ffc88b699f 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_goal_is_updated.xml
@@ -8,9 +8,9 @@
       <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
       <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <GoalUpdatedController>
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
       </GoalUpdatedController>
-      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml
index effe9a2bf82..11b1050a936 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_only_if_path_becomes_invalid.xml
@@ -14,10 +14,10 @@
             </Inverter>
             <IsPathValid path="{path}"/>
           </ReactiveSequence>
-          <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+          <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
         </Fallback>
       </RateController>
-      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml
index e0d5d6a5a41..2fa10836816 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_speed.xml
@@ -8,9 +8,9 @@
       <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
       <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <SpeedController min_rate="0.1" max_rate="1.0" min_speed="0.0" max_speed="0.26">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
       </SpeedController>
-      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}" controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>
diff --git a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml
index 11332fb24e9..161fb29af0c 100644
--- a/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml
+++ b/nav2_bt_navigator/behavior_trees/navigate_w_replanning_time.xml
@@ -8,9 +8,9 @@
       <ControllerSelector selected_controller="{selected_controller}" default_controller="FollowPath" topic_name="controller_selector"/>
       <PlannerSelector selected_planner="{selected_planner}" default_planner="GridBased" topic_name="planner_selector"/>
       <RateController hz="1.0">
-        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}"/>
+        <ComputePathToPose goal="{goal}" path="{path}" planner_id="{selected_planner}" error_code_id="{compute_path_error_code}" error_msg="{compute_path_error_msg}"/>
       </RateController>
-      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}"/>
+      <FollowPath path="{path}"  controller_id="{selected_controller}" error_code_id="{follow_path_error_code}" error_msg="{follow_path_error_msg}"/>
     </PipelineSequence>
   </BehaviorTree>
 </root>