diff --git a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
index 1c14027428..c29198e328 100644
--- a/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
+++ b/nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
@@ -219,7 +219,7 @@ NavigateThroughPosesNavigator::initializeGoalPoses(ActionT::Goal::ConstSharedPtr
         goal_pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame,
         feedback_utils_.transform_tolerance))
     {
-      current_error_code_ = ActionT::Result::TF_ERROR;
+      current_error_code_ = ActionT::Result::GOAL_TRANSFORMATION_ERROR;
       current_error_msg_ =
         "Failed to transform a goal pose (" + std::to_string(i) + ") provided with frame_id '" +
         goal_pose.header.frame_id +
diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
index d5c7ed2045..0be9359f6e 100644
--- a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
+++ b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
@@ -232,7 +232,7 @@ NavigateToPoseNavigator::initializeGoalPose(ActionT::Goal::ConstSharedPtr goal)
       goal->pose, goal_pose, *feedback_utils_.tf, feedback_utils_.global_frame,
       feedback_utils_.transform_tolerance))
   {
-    current_error_code_ = ActionT::Result::TF_ERROR;
+    current_error_code_ = ActionT::Result::GOAL_TRANSFORMATION_ERROR;
     current_error_msg_ =
       "Failed to transform a goal pose provided with frame_id '" +
       goal->pose.header.frame_id +
diff --git a/nav2_msgs/action/NavigateThroughPoses.action b/nav2_msgs/action/NavigateThroughPoses.action
index 92f8b36f57..e5332c1647 100644
--- a/nav2_msgs/action/NavigateThroughPoses.action
+++ b/nav2_msgs/action/NavigateThroughPoses.action
@@ -9,7 +9,7 @@ string behavior_tree
 # Note: The expected priority order of the errors should match the message order
 uint16 NONE=0
 uint16 FAILED_TO_LOAD_BEHAVIOR_TREE=901
-uint16 TF_ERROR=902
+uint16 GOAL_TRANSFORMATION_ERROR=902
 uint16 POSE_NOT_AVAILABLE=912
 uint16 UNKNOWN=999
 
diff --git a/nav2_msgs/action/NavigateToPose.action b/nav2_msgs/action/NavigateToPose.action
index 4f2e41e0d5..23d1a4e116 100644
--- a/nav2_msgs/action/NavigateToPose.action
+++ b/nav2_msgs/action/NavigateToPose.action
@@ -8,7 +8,7 @@ string behavior_tree
 # Note: The expected priority order of the errors should match the message order
 uint16 NONE=0
 uint16 FAILED_TO_LOAD_BEHAVIOR_TREE=901
-uint16 TF_ERROR=902
+uint16 GOAL_TRANSFORMATION_ERROR=902
 uint16 POSE_NOT_AVAILABLE=912
 uint16 UNKNOWN=999