diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index 4577f495507..69a1f2507e3 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -50,52 +50,56 @@ bt_navigator:
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
     plugin_lib_names:
-    - nav2_compute_path_to_pose_action_bt_node
-    - nav2_compute_path_through_poses_action_bt_node
-    - nav2_smooth_path_action_bt_node
-    - nav2_follow_path_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_bt_node
-    - nav2_assisted_teleop_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_drive_on_heading_bt_node
-    - nav2_clear_costmap_service_bt_node
-    - nav2_is_stuck_condition_bt_node
-    - nav2_goal_reached_condition_bt_node
-    - nav2_goal_updated_condition_bt_node
-    - nav2_globally_updated_goal_condition_bt_node
-    - nav2_is_path_valid_condition_bt_node
-    - nav2_initial_pose_received_condition_bt_node
-    - nav2_reinitialize_global_localization_service_bt_node
-    - nav2_rate_controller_bt_node
-    - nav2_distance_controller_bt_node
-    - nav2_speed_controller_bt_node
-    - nav2_truncate_path_action_bt_node
-    - nav2_truncate_path_local_action_bt_node
-    - nav2_goal_updater_node_bt_node
-    - nav2_recovery_node_bt_node
-    - nav2_pipeline_sequence_bt_node
-    - nav2_round_robin_node_bt_node
-    - nav2_transform_available_condition_bt_node
-    - nav2_time_expired_condition_bt_node
-    - nav2_path_expiring_timer_condition
-    - nav2_distance_traveled_condition_bt_node
-    - nav2_single_trigger_bt_node
-    - nav2_goal_updated_controller_bt_node
-    - nav2_is_battery_low_condition_bt_node
-    - nav2_navigate_through_poses_action_bt_node
-    - nav2_navigate_to_pose_action_bt_node
-    - nav2_remove_passed_goals_action_bt_node
-    - nav2_planner_selector_bt_node
-    - nav2_controller_selector_bt_node
-    - nav2_goal_checker_selector_bt_node
-    - nav2_controller_cancel_bt_node
-    - nav2_path_longer_on_approach_bt_node
-    - nav2_wait_cancel_bt_node
-    - nav2_spin_cancel_bt_node
-    - nav2_back_up_cancel_bt_node
-    - nav2_assisted_teleop_cancel_bt_node
-    - nav2_drive_on_heading_cancel_bt_node
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+    error_code_names:
+      - compute_path_error_code
+      - follow_path_error_code
+
 
 controller_server:
   ros__parameters: