diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp
index 22cde94c35f..a151bc62920 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp
@@ -29,6 +29,10 @@ namespace nav2_behavior_tree
  */
 class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTeleop>
 {
+  using Action = nav2_msgs::action::AssistedTeleop;
+  using ActionGoal = Action::Goal;
+  using ActionResult = Action::Result;
+
 public:
   /**
    * @brief A constructor for nav2_behavior_tree::nav2_msgs::action::AssistedTeleop
@@ -46,8 +50,21 @@ class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTele
    */
   void on_tick() override;
 
+  /**
+   * @brief Function to perform some user-defined operation upon successful completion of the action
+   */
+  BT::NodeStatus on_success() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon abortion of the action
+   */
   BT::NodeStatus on_aborted() override;
 
+  /**
+   * @brief Function to perform some user-defined operation upon cancellation of the action
+   */
+  BT::NodeStatus on_cancelled() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
@@ -57,7 +74,9 @@ class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTele
     return providedBasicPorts(
       {
         BT::InputPort<double>("time_allowance", 10.0, "Allowed time for running assisted teleop"),
-        BT::InputPort<bool>("is_recovery", false, "If true the recovery count will be incremented")
+        BT::InputPort<bool>("is_recovery", false, "If true the recovery count will be incremented"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_code_id", "The assisted teleop behavior server error code")
       });
   }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp
index 4481198972f..d94685e3444 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp
@@ -28,6 +28,10 @@ namespace nav2_behavior_tree
  */
 class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
 {
+  using Action = nav2_msgs::action::BackUp;
+  using ActionGoal = Action::Goal;
+  using ActionResult = Action::Result;
+
 public:
   /**
    * @brief A constructor for nav2_behavior_tree::BackUpAction
@@ -45,6 +49,22 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
    */
   void on_tick() override;
 
+
+  /**
+ * @brief Function to perform some user-defined operation upon successful completion of the action
+ */
+  BT::NodeStatus on_success() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon abortion of the action
+   */
+  BT::NodeStatus on_aborted() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon cancellation of the action
+   */
+  BT::NodeStatus on_cancelled() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
@@ -55,7 +75,9 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
       {
         BT::InputPort<double>("backup_dist", 0.15, "Distance to backup"),
         BT::InputPort<double>("backup_speed", 0.025, "Speed at which to backup"),
-        BT::InputPort<double>("time_allowance", 10.0, "Allowed time for reversing")
+        BT::InputPort<double>("time_allowance", 10.0, "Allowed time for reversing"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_code_id", "The back up behavior server error code")
       });
   }
 };
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp
index 5632a7551e6..877132441c5 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp
@@ -28,6 +28,10 @@ namespace nav2_behavior_tree
  */
 class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeading>
 {
+  using Action = nav2_msgs::action::DriveOnHeading;
+  using ActionGoal = Action::Goal;
+  using ActionResult = Action::Goal;
+
 public:
   /**
    * @brief A constructor for nav2_behavior_tree::DriveOnHeadingAction
@@ -50,11 +54,27 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
       {
         BT::InputPort<double>("dist_to_travel", 0.15, "Distance to travel"),
         BT::InputPort<double>("speed", 0.025, "Speed at which to travel"),
-        BT::InputPort<double>("time_allowance", 10.0, "Allowed time for driving on heading")
+        BT::InputPort<double>("time_allowance", 10.0, "Allowed time for driving on heading"),
+        BT::OutputPort<Action::Result::_error_code_type>(
+          "error_code_id", "The drive on heading behavior server error code")
       });
   }
+
+  /**
+ * @brief Function to perform some user-defined operation upon successful completion of the action
+ */
+  BT::NodeStatus on_success() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon abortion of the action
+   */
+  BT::NodeStatus on_aborted() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon cancellation of the action
+   */
+  BT::NodeStatus on_cancelled() override;
 };
 
 }  // namespace nav2_behavior_tree
-
 #endif  // NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__DRIVE_ON_HEADING_ACTION_HPP_
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp
index 76496ba7ed2..d692ba6756d 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp
@@ -28,6 +28,10 @@ namespace nav2_behavior_tree
  */
 class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
 {
+  using Action = nav2_msgs::action::Spin;
+  using ActionResult = Action::Result;
+  using ActionGoal = Action::Goal;
+
 public:
   /**
    * @brief A constructor for nav2_behavior_tree::SpinAction
@@ -55,10 +59,27 @@ class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
       {
         BT::InputPort<double>("spin_dist", 1.57, "Spin distance"),
         BT::InputPort<double>("time_allowance", 10.0, "Allowed time for spinning"),
-        BT::InputPort<bool>("is_recovery", true, "True if recovery")
+        BT::InputPort<bool>("is_recovery", true, "True if recovery"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_code_id", "The spin behavior error code")
       });
   }
 
+  /**
+   * @brief Function to perform some user-defined operation upon successful completion of the action
+   */
+  BT::NodeStatus on_success() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon abortion of the action
+   */
+  BT::NodeStatus on_aborted() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon cancellation of the action
+   */
+  BT::NodeStatus on_cancelled() override;
+
 private:
   bool is_recovery_;
 };
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index cf2bbed4b22..a70000e1761 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -13,6 +13,7 @@
       <input_port name="time_allowance">Allowed time for reversing</input_port>
       <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>
     </Action>
 
     <Action ID="DriveOnHeading">
@@ -21,6 +22,7 @@
       <input_port name="time_allowance">Allowed time for reversing</input_port>
       <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>
     </Action>
 
     <Action ID="CancelControl">
@@ -184,6 +186,7 @@
       <input_port name="time_allowance">Allowed time for spinning</input_port>
       <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>
     </Action>
 
     <Action ID="Wait">
@@ -197,6 +200,7 @@
       <input_port name="is_recovery">If true recovery count will be incremented</input_port>
       <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>
     </Action>
 
     <!-- ############################### CONDITION NODES ############################## -->
diff --git a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
index 025f4786fc5..1f63a281c3e 100644
--- a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
+++ b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
@@ -41,11 +41,24 @@ void AssistedTeleopAction::on_tick()
   }
 }
 
+BT::NodeStatus AssistedTeleopAction::on_success()
+{
+  setOutput("error_code_id", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
 BT::NodeStatus AssistedTeleopAction::on_aborted()
 {
+  setOutput("error_code_id", result_.result->error_code);
   return is_recovery_ ? BT::NodeStatus::FAILURE : BT::NodeStatus::SUCCESS;
 }
 
+BT::NodeStatus AssistedTeleopAction::on_cancelled()
+{
+  setOutput("error_code_id", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/action/back_up_action.cpp b/nav2_behavior_tree/plugins/action/back_up_action.cpp
index b72afaf8106..9013a1244c1 100644
--- a/nav2_behavior_tree/plugins/action/back_up_action.cpp
+++ b/nav2_behavior_tree/plugins/action/back_up_action.cpp
@@ -46,6 +46,24 @@ void BackUpAction::on_tick()
   increment_recovery_count();
 }
 
+BT::NodeStatus BackUpAction::on_success()
+{
+  setOutput("error_code_id", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
+BT::NodeStatus BackUpAction::on_aborted()
+{
+  setOutput("error_code_id", result_.result->error_code);
+  return BT::NodeStatus::FAILURE;
+}
+
+BT::NodeStatus BackUpAction::on_cancelled()
+{
+  setOutput("error_code_id", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp b/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
index 81a93a63628..73036ccddd6 100644
--- a/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
+++ b/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
@@ -41,6 +41,24 @@ DriveOnHeadingAction::DriveOnHeadingAction(
   goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
 }
 
+BT::NodeStatus DriveOnHeadingAction::on_success()
+{
+  setOutput("error_code_id", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
+BT::NodeStatus DriveOnHeadingAction::on_aborted()
+{
+  setOutput("error_code_id", result_.result->error_code);
+  return BT::NodeStatus::FAILURE;
+}
+
+BT::NodeStatus DriveOnHeadingAction::on_cancelled()
+{
+  setOutput("error_code_id", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/action/spin_action.cpp b/nav2_behavior_tree/plugins/action/spin_action.cpp
index 73dc8c589fb..dd203499502 100644
--- a/nav2_behavior_tree/plugins/action/spin_action.cpp
+++ b/nav2_behavior_tree/plugins/action/spin_action.cpp
@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <string>
 #include <memory>
 
 #include "nav2_behavior_tree/plugins/action/spin_action.hpp"
@@ -42,6 +41,24 @@ void SpinAction::on_tick()
   }
 }
 
+BT::NodeStatus SpinAction::on_success()
+{
+  setOutput("error_code_id", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
+BT::NodeStatus SpinAction::on_aborted()
+{
+  setOutput("error_code_id", result_.result->error_code);
+  return BT::NodeStatus::FAILURE;
+}
+
+BT::NodeStatus SpinAction::on_cancelled()
+{
+  setOutput("error_code_id", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"
diff --git a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
index 579a2fd0ce9..eb640780d3d 100644
--- a/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
+++ b/nav2_behaviors/include/nav2_behaviors/timed_behavior.hpp
@@ -15,6 +15,8 @@
 #ifndef NAV2_BEHAVIORS__TIMED_BEHAVIOR_HPP_
 #define NAV2_BEHAVIORS__TIMED_BEHAVIOR_HPP_
 
+
+#include <cstdint>
 #include <memory>
 #include <string>
 #include <cmath>
@@ -35,6 +37,7 @@
 #include "tf2/utils.h"
 #pragma GCC diagnostic pop
 
+
 namespace nav2_behaviors
 {
 
@@ -45,6 +48,12 @@ enum class Status : int8_t
   RUNNING = 3,
 };
 
+struct ResultStatus
+{
+  Status status;
+  uint16_t error_code{0};
+};
+
 using namespace std::chrono_literals;  //NOLINT
 
 /**
@@ -73,7 +82,7 @@ class TimedBehavior : public nav2_core::Behavior
   // Derived classes can override this method to catch the command and perform some checks
   // before getting into the main loop. The method will only be called
   // once and should return SUCCEEDED otherwise behavior will return FAILED.
-  virtual Status onRun(const std::shared_ptr<const typename ActionT::Goal> command) = 0;
+  virtual ResultStatus onRun(const std::shared_ptr<const typename ActionT::Goal> command) = 0;
 
 
   // This is the method derived classes should mainly implement
@@ -81,7 +90,7 @@ class TimedBehavior : public nav2_core::Behavior
   // Implement the behavior such that it runs some unit of work on each call
   // and provides a status. The Behavior will finish once SUCCEEDED is returned
   // It's up to the derived class to define the final commanded velocity.
-  virtual Status onCycleUpdate() = 0;
+  virtual ResultStatus onCycleUpdate() = 0;
 
   // an opportunity for derived classes to do something on configuration
   // if they chose
@@ -193,19 +202,20 @@ class TimedBehavior : public nav2_core::Behavior
       return;
     }
 
-    if (onRun(action_server_->get_current_goal()) != Status::SUCCEEDED) {
+    // Initialize the ActionT result
+    auto result = std::make_shared<typename ActionT::Result>();
+
+    ResultStatus on_run_result = onRun(action_server_->get_current_goal());
+    if (on_run_result.status != Status::SUCCEEDED) {
       RCLCPP_INFO(
         logger_,
         "Initial checks failed for %s", behavior_name_.c_str());
-      action_server_->terminate_current();
+      result->error_code = on_run_result.error_code;
+      action_server_->terminate_current(result);
       return;
     }
 
     auto start_time = steady_clock_.now();
-
-    // Initialize the ActionT result
-    auto result = std::make_shared<typename ActionT::Result>();
-
     rclcpp::WallRate loop_rate(cycle_frequency_);
 
     while (rclcpp::ok()) {
@@ -232,7 +242,8 @@ class TimedBehavior : public nav2_core::Behavior
         return;
       }
 
-      switch (onCycleUpdate()) {
+      ResultStatus on_cycle_update_result = onCycleUpdate();
+      switch (on_cycle_update_result.status) {
         case Status::SUCCEEDED:
           RCLCPP_INFO(
             logger_,
@@ -245,6 +256,7 @@ class TimedBehavior : public nav2_core::Behavior
         case Status::FAILED:
           RCLCPP_WARN(logger_, "%s failed", behavior_name_.c_str());
           result->total_elapsed_time = steady_clock_.now() - start_time;
+          result->error_code = on_cycle_update_result.error_code;
           action_server_->terminate_current(result);
           onActionCompletion();
           return;
diff --git a/nav2_behaviors/plugins/assisted_teleop.cpp b/nav2_behaviors/plugins/assisted_teleop.cpp
index defdfaf5a70..0ca8412abaf 100644
--- a/nav2_behaviors/plugins/assisted_teleop.cpp
+++ b/nav2_behaviors/plugins/assisted_teleop.cpp
@@ -63,12 +63,12 @@ void AssistedTeleop::onConfigure()
       this, std::placeholders::_1));
 }
 
-Status AssistedTeleop::onRun(const std::shared_ptr<const AssistedTeleopAction::Goal> command)
+ResultStatus AssistedTeleop::onRun(const std::shared_ptr<const AssistedTeleopAction::Goal> command)
 {
   preempt_teleop_ = false;
   command_time_allowance_ = command->time_allowance;
   end_time_ = steady_clock_.now() + command_time_allowance_;
-  return Status::SUCCEEDED;
+  return ResultStatus{Status::SUCCEEDED, AssistedTeleopActionGoal::NONE};
 }
 
 void AssistedTeleop::onActionCompletion()
@@ -77,7 +77,7 @@ void AssistedTeleop::onActionCompletion()
   preempt_teleop_ = false;
 }
 
-Status AssistedTeleop::onCycleUpdate()
+ResultStatus AssistedTeleop::onCycleUpdate()
 {
   feedback_->current_teleop_duration = elasped_time_;
   action_server_->publish_feedback(feedback_);
@@ -89,13 +89,13 @@ Status AssistedTeleop::onCycleUpdate()
       logger_,
       "Exceeded time allowance before reaching the " << behavior_name_.c_str() <<
         "goal - Exiting " << behavior_name_.c_str());
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, AssistedTeleopActionGoal::TIMEOUT};
   }
 
   // user states that teleop was successful
   if (preempt_teleop_) {
     stopRobot();
-    return Status::SUCCEEDED;
+    return ResultStatus{Status::SUCCEEDED, AssistedTeleopActionGoal::NONE};
   }
 
   geometry_msgs::msg::PoseStamped current_pose;
@@ -107,8 +107,9 @@ Status AssistedTeleop::onCycleUpdate()
       logger_,
       "Current robot pose is not available for " <<
         behavior_name_.c_str());
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, AssistedTeleopActionGoal::TF_ERROR};
   }
+
   geometry_msgs::msg::Pose2D projected_pose;
   projected_pose.x = current_pose.pose.position.x;
   projected_pose.y = current_pose.pose.position.y;
@@ -147,7 +148,7 @@ Status AssistedTeleop::onCycleUpdate()
   }
   vel_pub_->publish(std::move(scaled_twist));
 
-  return Status::RUNNING;
+  return ResultStatus{Status::RUNNING, AssistedTeleopActionGoal::NONE};
 }
 
 geometry_msgs::msg::Pose2D AssistedTeleop::projectPose(
diff --git a/nav2_behaviors/plugins/assisted_teleop.hpp b/nav2_behaviors/plugins/assisted_teleop.hpp
index 12a85f327c4..8f45e43bd5a 100644
--- a/nav2_behaviors/plugins/assisted_teleop.hpp
+++ b/nav2_behaviors/plugins/assisted_teleop.hpp
@@ -35,6 +35,7 @@ using AssistedTeleopAction = nav2_msgs::action::AssistedTeleop;
 class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
 {
 public:
+  using AssistedTeleopActionGoal = AssistedTeleopAction::Goal;
   AssistedTeleop();
 
   /**
@@ -42,7 +43,7 @@ class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const AssistedTeleopAction::Goal> command) override;
+  ResultStatus onRun(const std::shared_ptr<const AssistedTeleopActionGoal> command) override;
 
   /**
    * @brief func to run at the completion of the action
@@ -53,7 +54,7 @@ class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
    * @brief Loop function to run behavior
    * @return Status of behavior
    */
-  Status onCycleUpdate() override;
+  ResultStatus onCycleUpdate() override;
 
 protected:
   /**
diff --git a/nav2_behaviors/plugins/back_up.cpp b/nav2_behaviors/plugins/back_up.cpp
index 90a69a686ed..3e34bc86fc3 100644
--- a/nav2_behaviors/plugins/back_up.cpp
+++ b/nav2_behaviors/plugins/back_up.cpp
@@ -17,13 +17,13 @@
 namespace nav2_behaviors
 {
 
-Status BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> command)
+ResultStatus BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> command)
 {
   if (command->target.y != 0.0 || command->target.z != 0.0) {
     RCLCPP_INFO(
       logger_,
       "Backing up in Y and Z not supported, will only move in X.");
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, BackUpActionGoal::INVALID_INPUT};
   }
 
   // Silently ensure that both the speed and direction are negative.
@@ -38,10 +38,10 @@ Status BackUp::onRun(const std::shared_ptr<const BackUpAction::Goal> command)
       transform_tolerance_))
   {
     RCLCPP_ERROR(logger_, "Initial robot pose is not available.");
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, BackUpActionGoal::TF_ERROR};
   }
 
-  return Status::SUCCEEDED;
+  return ResultStatus{Status::SUCCEEDED, BackUpActionGoal::NONE};
 }
 
 }  // namespace nav2_behaviors
diff --git a/nav2_behaviors/plugins/back_up.hpp b/nav2_behaviors/plugins/back_up.hpp
index f892c5b0e2d..3715297554d 100644
--- a/nav2_behaviors/plugins/back_up.hpp
+++ b/nav2_behaviors/plugins/back_up.hpp
@@ -28,7 +28,9 @@ namespace nav2_behaviors
 class BackUp : public DriveOnHeading<nav2_msgs::action::BackUp>
 {
 public:
-  Status onRun(const std::shared_ptr<const BackUpAction::Goal> command) override;
+  using BackUpActionGoal = BackUpAction::Goal;
+
+  ResultStatus onRun(const std::shared_ptr<const BackUpActionGoal> command) override;
 };
 }
 
diff --git a/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/plugins/drive_on_heading.hpp
index 79c8d81c719..d430803d300 100644
--- a/nav2_behaviors/plugins/drive_on_heading.hpp
+++ b/nav2_behaviors/plugins/drive_on_heading.hpp
@@ -55,19 +55,19 @@ class DriveOnHeading : public TimedBehavior<ActionT>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const typename ActionT::Goal> command) override
+  ResultStatus onRun(const std::shared_ptr<const typename ActionT::Goal> command) override
   {
     if (command->target.y != 0.0 || command->target.z != 0.0) {
       RCLCPP_INFO(
         this->logger_,
         "DrivingOnHeading in Y and Z not supported, will only move in X.");
-      return Status::FAILED;
+      return ResultStatus{Status::FAILED, ActionT::Goal::INVALID_INPUT};
     }
 
     // Ensure that both the speed and direction have the same sign
     if (!((command->target.x > 0.0) == (command->speed > 0.0)) ) {
       RCLCPP_ERROR(this->logger_, "Speed and command sign did not match");
-      return Status::FAILED;
+      return ResultStatus{Status::FAILED, ActionT::Goal::INVALID_INPUT};
     }
 
     command_x_ = command->target.x;
@@ -81,17 +81,17 @@ class DriveOnHeading : public TimedBehavior<ActionT>
         this->transform_tolerance_))
     {
       RCLCPP_ERROR(this->logger_, "Initial robot pose is not available.");
-      return Status::FAILED;
+      return ResultStatus{Status::FAILED, ActionT::Goal::TF_ERROR};
     }
 
-    return Status::SUCCEEDED;
+    return ResultStatus{Status::SUCCEEDED, ActionT::Goal::NONE};
   }
 
   /**
    * @brief Loop function to run behavior
    * @return Status of behavior
    */
-  Status onCycleUpdate()
+  ResultStatus onCycleUpdate()
   {
     rclcpp::Duration time_remaining = end_time_ - this->steady_clock_.now();
     if (time_remaining.seconds() < 0.0 && command_time_allowance_.seconds() > 0.0) {
@@ -99,7 +99,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
       RCLCPP_WARN(
         this->logger_,
         "Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading");
-      return Status::FAILED;
+      return ResultStatus{Status::FAILED, ActionT::Goal::NONE};
     }
 
     geometry_msgs::msg::PoseStamped current_pose;
@@ -108,7 +108,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
         this->transform_tolerance_))
     {
       RCLCPP_ERROR(this->logger_, "Current robot pose is not available.");
-      return Status::FAILED;
+      return ResultStatus{Status::FAILED, ActionT::Goal::TF_ERROR};
     }
 
     double diff_x = initial_pose_.pose.position.x - current_pose.pose.position.x;
@@ -120,7 +120,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
 
     if (distance >= std::fabs(command_x_)) {
       this->stopRobot();
-      return Status::SUCCEEDED;
+      return ResultStatus{Status::SUCCEEDED, ActionT::Goal::NONE};
     }
 
     auto cmd_vel = std::make_unique<geometry_msgs::msg::Twist>();
@@ -136,12 +136,12 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     if (!isCollisionFree(distance, cmd_vel.get(), pose2d)) {
       this->stopRobot();
       RCLCPP_WARN(this->logger_, "Collision Ahead - Exiting DriveOnHeading");
-      return Status::FAILED;
+      return ResultStatus{Status::FAILED, ActionT::Goal::COLLISION_AHEAD};
     }
 
     this->vel_pub_->publish(std::move(cmd_vel));
 
-    return Status::RUNNING;
+    return ResultStatus{Status::RUNNING, ActionT::Goal::NONE};
   }
 
 protected:
diff --git a/nav2_behaviors/plugins/spin.cpp b/nav2_behaviors/plugins/spin.cpp
index a76fe38f525..38255e69478 100644
--- a/nav2_behaviors/plugins/spin.cpp
+++ b/nav2_behaviors/plugins/spin.cpp
@@ -71,7 +71,7 @@ void Spin::onConfigure()
   node->get_parameter("rotational_acc_lim", rotational_acc_lim_);
 }
 
-Status Spin::onRun(const std::shared_ptr<const SpinAction::Goal> command)
+ResultStatus Spin::onRun(const std::shared_ptr<const SpinActionGoal> command)
 {
   geometry_msgs::msg::PoseStamped current_pose;
   if (!nav2_util::getCurrentPose(
@@ -79,7 +79,7 @@ Status Spin::onRun(const std::shared_ptr<const SpinAction::Goal> command)
       transform_tolerance_))
   {
     RCLCPP_ERROR(logger_, "Current robot pose is not available.");
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, SpinActionGoal::TF_ERROR};
   }
 
   prev_yaw_ = tf2::getYaw(current_pose.pose.orientation);
@@ -93,10 +93,10 @@ Status Spin::onRun(const std::shared_ptr<const SpinAction::Goal> command)
   command_time_allowance_ = command->time_allowance;
   end_time_ = steady_clock_.now() + command_time_allowance_;
 
-  return Status::SUCCEEDED;
+  return ResultStatus{Status::SUCCEEDED, SpinActionGoal::NONE};
 }
 
-Status Spin::onCycleUpdate()
+ResultStatus Spin::onCycleUpdate()
 {
   rclcpp::Duration time_remaining = end_time_ - steady_clock_.now();
   if (time_remaining.seconds() < 0.0 && command_time_allowance_.seconds() > 0.0) {
@@ -104,7 +104,7 @@ Status Spin::onCycleUpdate()
     RCLCPP_WARN(
       logger_,
       "Exceeded time allowance before reaching the Spin goal - Exiting Spin");
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, SpinActionGoal::TIMEOUT};
   }
 
   geometry_msgs::msg::PoseStamped current_pose;
@@ -113,7 +113,7 @@ Status Spin::onCycleUpdate()
       transform_tolerance_))
   {
     RCLCPP_ERROR(logger_, "Current robot pose is not available.");
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, SpinActionGoal::TF_ERROR};
   }
 
   const double current_yaw = tf2::getYaw(current_pose.pose.orientation);
@@ -132,7 +132,7 @@ Status Spin::onCycleUpdate()
   double remaining_yaw = abs(cmd_yaw_) - abs(relative_yaw_);
   if (remaining_yaw < 1e-6) {
     stopRobot();
-    return Status::SUCCEEDED;
+    return ResultStatus{Status::SUCCEEDED, SpinActionGoal::NONE};
   }
 
   double vel = sqrt(2 * rotational_acc_lim_ * remaining_yaw);
@@ -149,12 +149,12 @@ Status Spin::onCycleUpdate()
   if (!isCollisionFree(relative_yaw_, cmd_vel.get(), pose2d)) {
     stopRobot();
     RCLCPP_WARN(logger_, "Collision Ahead - Exiting Spin");
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, SpinActionGoal::COLLISION_AHEAD};
   }
 
   vel_pub_->publish(std::move(cmd_vel));
 
-  return Status::RUNNING;
+  return ResultStatus{Status::RUNNING, SpinActionGoal::NONE};
 }
 
 bool Spin::isCollisionFree(
diff --git a/nav2_behaviors/plugins/spin.hpp b/nav2_behaviors/plugins/spin.hpp
index 7174c91f467..e22ddcd8f8f 100644
--- a/nav2_behaviors/plugins/spin.hpp
+++ b/nav2_behaviors/plugins/spin.hpp
@@ -34,6 +34,8 @@ using SpinAction = nav2_msgs::action::Spin;
 class Spin : public TimedBehavior<SpinAction>
 {
 public:
+  using SpinActionGoal = SpinAction::Goal;
+
   /**
    * @brief A constructor for nav2_behaviors::Spin
    */
@@ -45,7 +47,7 @@ class Spin : public TimedBehavior<SpinAction>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const SpinAction::Goal> command) override;
+  ResultStatus onRun(const std::shared_ptr<const SpinActionGoal> command) override;
 
   /**
    * @brief Configuration of behavior action
@@ -56,7 +58,7 @@ class Spin : public TimedBehavior<SpinAction>
    * @brief Loop function to run behavior
    * @return Status of behavior
    */
-  Status onCycleUpdate() override;
+  ResultStatus onCycleUpdate() override;
 
 protected:
   /**
diff --git a/nav2_behaviors/plugins/wait.cpp b/nav2_behaviors/plugins/wait.cpp
index 236f7122018..9b006196d99 100644
--- a/nav2_behaviors/plugins/wait.cpp
+++ b/nav2_behaviors/plugins/wait.cpp
@@ -28,14 +28,14 @@ Wait::Wait()
 
 Wait::~Wait() = default;
 
-Status Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
+ResultStatus Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
 {
   wait_end_ = std::chrono::steady_clock::now() +
     rclcpp::Duration(command->time).to_chrono<std::chrono::nanoseconds>();
-  return Status::SUCCEEDED;
+  return ResultStatus{Status::SUCCEEDED};
 }
 
-Status Wait::onCycleUpdate()
+ResultStatus Wait::onCycleUpdate()
 {
   auto current_point = std::chrono::steady_clock::now();
   auto time_left =
@@ -45,9 +45,9 @@ Status Wait::onCycleUpdate()
   action_server_->publish_feedback(feedback_);
 
   if (time_left > 0) {
-    return Status::RUNNING;
+    return ResultStatus{Status::RUNNING};
   } else {
-    return Status::SUCCEEDED;
+    return ResultStatus{Status::SUCCEEDED};
   }
 }
 
diff --git a/nav2_behaviors/plugins/wait.hpp b/nav2_behaviors/plugins/wait.hpp
index 38e85fd14aa..32c9aa7f1da 100644
--- a/nav2_behaviors/plugins/wait.hpp
+++ b/nav2_behaviors/plugins/wait.hpp
@@ -33,6 +33,8 @@ using WaitAction = nav2_msgs::action::Wait;
 class Wait : public TimedBehavior<WaitAction>
 {
 public:
+  using WaitActionGoal = WaitAction::Goal;
+
   /**
    * @brief A constructor for nav2_behaviors::Wait
    */
@@ -44,13 +46,13 @@ class Wait : public TimedBehavior<WaitAction>
    * @param command Goal to execute
    * @return Status of behavior
    */
-  Status onRun(const std::shared_ptr<const WaitAction::Goal> command) override;
+  ResultStatus onRun(const std::shared_ptr<const WaitActionGoal> command) override;
 
   /**
    * @brief Loop function to run behavior
    * @return Status of behavior
    */
-  Status onCycleUpdate() override;
+  ResultStatus onCycleUpdate() override;
 
 protected:
   std::chrono::time_point<std::chrono::steady_clock> wait_end_;
diff --git a/nav2_behaviors/test/test_behaviors.cpp b/nav2_behaviors/test/test_behaviors.cpp
index 4cd7527fbcf..7b99289dbda 100644
--- a/nav2_behaviors/test/test_behaviors.cpp
+++ b/nav2_behaviors/test/test_behaviors.cpp
@@ -27,6 +27,7 @@
 
 using nav2_behaviors::TimedBehavior;
 using nav2_behaviors::Status;
+using nav2_behaviors::ResultStatus;
 using BehaviorAction = nav2_msgs::action::DummyBehavior;
 using ClientGoalHandle = rclcpp_action::ClientGoalHandle<BehaviorAction>;
 
@@ -43,7 +44,7 @@ class DummyBehavior : public TimedBehavior<BehaviorAction>
 
   ~DummyBehavior() = default;
 
-  Status onRun(const std::shared_ptr<const BehaviorAction::Goal> goal) override
+  ResultStatus onRun(const std::shared_ptr<const BehaviorAction::Goal> goal) override
   {
     // A normal behavior would catch the command and initialize
     initialized_ = false;
@@ -54,20 +55,20 @@ class DummyBehavior : public TimedBehavior<BehaviorAction>
     // The output is defined by the tester class on the command string.
     if (command_ == "Testing success" || command_ == "Testing failure on run") {
       initialized_ = true;
-      return Status::SUCCEEDED;
+      return ResultStatus{Status::SUCCEEDED, 0};
     }
 
-    return Status::FAILED;
+    return ResultStatus{Status::FAILED, 0};
   }
 
-  Status onCycleUpdate() override
+  ResultStatus onCycleUpdate() override
   {
     // A normal behavior would set the robot in motion in the first call
     // and check for robot states on subsequent calls to check if the movement
     // was completed.
 
     if (command_ != "Testing success" || !initialized_) {
-      return Status::FAILED;
+      return ResultStatus{Status::FAILED, 0};
     }
 
     // For testing, pretend the robot takes some fixed
@@ -77,10 +78,10 @@ class DummyBehavior : public TimedBehavior<BehaviorAction>
 
     if (current_time - start_time_ >= motion_duration) {
       // Movement was completed
-      return Status::SUCCEEDED;
+      return ResultStatus{Status::SUCCEEDED, 0};
     }
 
-    return Status::RUNNING;
+    return ResultStatus{Status::RUNNING, 0};
   }
 
 private:
@@ -94,7 +95,7 @@ class DummyBehavior : public TimedBehavior<BehaviorAction>
 class BehaviorTest : public ::testing::Test
 {
 protected:
-  BehaviorTest() {SetUp();}
+  BehaviorTest() = default;
   ~BehaviorTest() = default;
 
   void SetUp() override
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 3dc5a765031..c5056c1c199 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
@@ -28,9 +28,9 @@
             <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"/>
+          <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
           <Wait wait_duration="5"/>
-          <BackUp backup_dist="0.30" backup_speed="0.05"/>
+          <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>
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 07d3a363989..6843f3d8592 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
@@ -37,9 +37,9 @@
               <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"/>
+            <Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
             <Wait wait_duration="5"/>
-            <BackUp backup_dist="0.30" backup_speed="0.05"/>
+            <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_code_id}"/>
           </RoundRobin>
         </ReactiveFallback>
       </Sequence>
diff --git a/nav2_msgs/action/AssistedTeleop.action b/nav2_msgs/action/AssistedTeleop.action
index ba830ebc121..7507c46cf5a 100644
--- a/nav2_msgs/action/AssistedTeleop.action
+++ b/nav2_msgs/action/AssistedTeleop.action
@@ -1,8 +1,16 @@
+# Error codes
+# Note: The expected priority order of the error should match the message order
+uint16 NONE=0
+uint16 UNKNOWN=730
+uint16 TIMEOUT=731
+uint16 TF_ERROR=732
+
 #goal definition
 builtin_interfaces/Duration time_allowance
 ---
 #result definition
 builtin_interfaces/Duration total_elapsed_time
+uint16 error_code
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
diff --git a/nav2_msgs/action/BackUp.action b/nav2_msgs/action/BackUp.action
index 9937302578a..298e8c56ba1 100644
--- a/nav2_msgs/action/BackUp.action
+++ b/nav2_msgs/action/BackUp.action
@@ -1,3 +1,12 @@
+# Error codes
+# Note: The expected priority order of the error should match the message order
+uint16 NONE=0
+uint16 UNKNOWN=710
+uint16 TIMEOUT=711
+uint16 TF_ERROR=712
+uint16 INVALID_INPUT=713
+uint16 COLLISION_AHEAD=714
+
 #goal definition
 geometry_msgs/Point target
 float32 speed
@@ -5,6 +14,7 @@ builtin_interfaces/Duration time_allowance
 ---
 #result definition
 builtin_interfaces/Duration total_elapsed_time
+uint16 error_code
 ---
 #feedback definition
 float32 distance_traveled
diff --git a/nav2_msgs/action/DriveOnHeading.action b/nav2_msgs/action/DriveOnHeading.action
index 9937302578a..529d88d61b6 100644
--- a/nav2_msgs/action/DriveOnHeading.action
+++ b/nav2_msgs/action/DriveOnHeading.action
@@ -1,3 +1,12 @@
+# Error codes
+# Note: The expected priority order of the error should match the message order
+uint16 NONE=0
+uint16 UNKNOWN=720
+uint16 TIMEOUT=721
+uint16 TF_ERROR=722
+uint16 COLLISION_AHEAD=723
+uint16 INVALID_INPUT=724
+
 #goal definition
 geometry_msgs/Point target
 float32 speed
@@ -5,6 +14,7 @@ builtin_interfaces/Duration time_allowance
 ---
 #result definition
 builtin_interfaces/Duration total_elapsed_time
+uint16 error_code
 ---
 #feedback definition
 float32 distance_traveled
diff --git a/nav2_msgs/action/DummyBehavior.action b/nav2_msgs/action/DummyBehavior.action
index 4b8db815d2b..2b90ea781a7 100644
--- a/nav2_msgs/action/DummyBehavior.action
+++ b/nav2_msgs/action/DummyBehavior.action
@@ -3,5 +3,6 @@ std_msgs/String command
 ---
 #result definition
 builtin_interfaces/Duration total_elapsed_time
+uint16 error_code
 ---
 #feedback definition
diff --git a/nav2_msgs/action/Spin.action b/nav2_msgs/action/Spin.action
index 3e1c0aadef0..036cd1b8f50 100644
--- a/nav2_msgs/action/Spin.action
+++ b/nav2_msgs/action/Spin.action
@@ -1,9 +1,18 @@
+# Error codes
+# Note: The expected priority order of the error should match the message order
+uint16 NONE=0
+uint16 UNKNOWN=700
+uint16 TIMEOUT=701
+uint16 TF_ERROR=702
+uint16 COLLISION_AHEAD=703
+
 #goal definition
 float32 target_yaw
 builtin_interfaces/Duration time_allowance
 ---
 #result definition
 builtin_interfaces/Duration total_elapsed_time
+uint16 error_code
 ---
 #feedback definition
 float32 angular_distance_traveled
diff --git a/nav2_msgs/action/Wait.action b/nav2_msgs/action/Wait.action
index 8cf7119431d..4657a7daa20 100644
--- a/nav2_msgs/action/Wait.action
+++ b/nav2_msgs/action/Wait.action
@@ -3,6 +3,7 @@ builtin_interfaces/Duration time
 ---
 #result definition
 builtin_interfaces/Duration total_elapsed_time
+uint16 error_code
 ---
 #feedback definition
 builtin_interfaces/Duration time_left