diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
index d2b120f44cb..0a6aa511b49 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -268,7 +268,10 @@ template<class ActionT>
 void BtActionServer<ActionT>::executeCallback()
 {
   if (!on_goal_received_callback_(action_server_->get_current_goal())) {
-    action_server_->terminate_current();
+    // Give server an opportunity to populate the result message
+    auto result = std::make_shared<typename ActionT::Result>();
+    populateErrorCode(result);
+    action_server_->terminate_current(result);
     cleanErrorCodes();
     return;
   }
@@ -333,6 +336,7 @@ void BtActionServer<ActionT>::populateErrorCode(
   typename std::shared_ptr<typename ActionT::Result> result)
 {
   int highest_priority_error_code = std::numeric_limits<int>::max();
+  std::string highest_priority_error_msg = "";
   for (const auto & error_code : error_code_names_) {
     try {
       int current_error_code = blackboard_->get<int>(error_code);
@@ -349,6 +353,7 @@ void BtActionServer<ActionT>::populateErrorCode(
 
   if (highest_priority_error_code != std::numeric_limits<int>::max()) {
     result->error_code = highest_priority_error_code;
+    result->error_msg = highest_priority_error_msg;
   }
 }
 
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 97511608d50..6352ad24b80 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
@@ -80,7 +80,9 @@ class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTele
         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::OutputPort<ActionResult::_error_code_type>(
-          "error_code_id", "The assisted teleop behavior server error code")
+          "error_code_id", "The assisted teleop behavior server error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The assisted teleop behavior server error msg"),
       });
   }
 
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 1419c40661d..f06aa711a44 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
@@ -81,7 +81,9 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::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::OutputPort<ActionResult::_error_code_type>(
-          "error_code_id", "The back up behavior server error code")
+          "error_code_id", "The back up behavior server error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The back up behavior server error msg"),
       });
   }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
index fe5d2e9dd25..864c5049e24 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
@@ -86,6 +86,8 @@ class ComputePathThroughPosesAction
         BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathThroughPoses node"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "The compute path through poses error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The compute path through poses error msg"),
       });
   }
 };
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
index 07e9a4a2f2f..a196ac42174 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
@@ -86,6 +86,8 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
         BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathToPose node"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "The compute path to pose error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The compute path to pose error msg"),
       });
   }
 };
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 dd1a6f29086..366584f7862 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
@@ -60,7 +60,9 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
         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::OutputPort<Action::Result::_error_code_type>(
-          "error_code_id", "The drive on heading behavior server error code")
+          "error_code_id", "The drive on heading behavior server error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The drive on heading behavior server error msg"),
       });
   }
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp
index c05c2c0d59f..6e64de8f7d4 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp
@@ -86,6 +86,8 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
         BT::InputPort<std::string>("progress_checker_id", ""),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "The follow path error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The follow path error msg"),
       });
   }
 };
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
index 44ad055ea24..d713b62bfd6 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
@@ -79,6 +79,8 @@ class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::Naviga
         BT::InputPort<std::string>("behavior_tree", "Behavior tree to run"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "The navigate through poses error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The navigate through poses error msg"),
       });
   }
 };
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp
index 849c8259a48..216fbd43c5c 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp
@@ -77,6 +77,8 @@ class NavigateToPoseAction : public BtActionNode<nav2_msgs::action::NavigateToPo
         BT::InputPort<std::string>("behavior_tree", "Behavior tree to run"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "Navigate to pose error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "Navigate to pose error msg"),
       });
   }
 };
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp
index d5ec4ced047..8e34d335313 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smooth_path_action.hpp
@@ -87,6 +87,8 @@ class SmoothPathAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::acti
           "was_completed", "True if smoothing was not interrupted by time limit"),
         BT::OutputPort<ActionResult::_error_code_type>(
           "error_code_id", "The smooth path error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The smooth path error msg"),
       });
   }
 };
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 4f9b300e445..44f8c172015 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
@@ -65,7 +65,9 @@ class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
         BT::InputPort<double>("time_allowance", 10.0, "Allowed time for spinning"),
         BT::InputPort<bool>("is_recovery", true, "True if recovery"),
         BT::OutputPort<ActionResult::_error_code_type>(
-          "error_code_id", "The spin behavior error code")
+          "error_code_id", "The spin behavior error code"),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "error_msg", "The spin behavior error msg"),
       });
   }
 
diff --git a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
index e876d2ce40b..f7e643b82fa 100644
--- a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
+++ b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
@@ -53,18 +53,21 @@ void AssistedTeleopAction::on_tick()
 BT::NodeStatus AssistedTeleopAction::on_success()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus AssistedTeleopAction::on_aborted()
 {
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return is_recovery_ ? BT::NodeStatus::FAILURE : BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus AssistedTeleopAction::on_cancelled()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
diff --git a/nav2_behavior_tree/plugins/action/back_up_action.cpp b/nav2_behavior_tree/plugins/action/back_up_action.cpp
index e17580fe71c..2875d9b7c49 100644
--- a/nav2_behavior_tree/plugins/action/back_up_action.cpp
+++ b/nav2_behavior_tree/plugins/action/back_up_action.cpp
@@ -59,18 +59,21 @@ void BackUpAction::on_tick()
 BT::NodeStatus BackUpAction::on_success()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus BackUpAction::on_aborted()
 {
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
 BT::NodeStatus BackUpAction::on_cancelled()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
diff --git a/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp
index a0572ecad61..55540efb72d 100644
--- a/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp
+++ b/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp
@@ -43,6 +43,7 @@ BT::NodeStatus ComputePathThroughPosesAction::on_success()
   setOutput("path", result_.result->path);
   // Set empty error code, action was successful
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -51,6 +52,7 @@ BT::NodeStatus ComputePathThroughPosesAction::on_aborted()
   nav_msgs::msg::Path empty_path;
   setOutput("path", empty_path);
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
@@ -60,6 +62,7 @@ BT::NodeStatus ComputePathThroughPosesAction::on_cancelled()
   setOutput("path", empty_path);
   // Set empty error code, action was cancelled
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
diff --git a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
index c7f1a0164e8..fb5fdd8202e 100644
--- a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
+++ b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
@@ -42,6 +42,7 @@ BT::NodeStatus ComputePathToPoseAction::on_success()
   setOutput("path", result_.result->path);
   // Set empty error code, action was successful
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
@@ -50,6 +51,7 @@ BT::NodeStatus ComputePathToPoseAction::on_aborted()
   nav_msgs::msg::Path empty_path;
   setOutput("path", empty_path);
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
@@ -59,6 +61,7 @@ BT::NodeStatus ComputePathToPoseAction::on_cancelled()
   setOutput("path", empty_path);
   // Set empty error code, action was cancelled
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
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 03c00344141..5b7a86b4c82 100644
--- a/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
+++ b/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
@@ -57,18 +57,21 @@ void DriveOnHeadingAction::on_tick()
 BT::NodeStatus DriveOnHeadingAction::on_success()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus DriveOnHeadingAction::on_aborted()
 {
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
 BT::NodeStatus DriveOnHeadingAction::on_cancelled()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
diff --git a/nav2_behavior_tree/plugins/action/follow_path_action.cpp b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
index b662221de0f..081f36caee0 100644
--- a/nav2_behavior_tree/plugins/action/follow_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
@@ -39,12 +39,14 @@ void FollowPathAction::on_tick()
 BT::NodeStatus FollowPathAction::on_success()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus FollowPathAction::on_aborted()
 {
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
@@ -52,6 +54,7 @@ BT::NodeStatus FollowPathAction::on_cancelled()
 {
   // Set empty error code, action was cancelled
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
diff --git a/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp b/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp
index 9213cd564f4..be6272317ab 100644
--- a/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp
+++ b/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp
@@ -42,12 +42,14 @@ void NavigateThroughPosesAction::on_tick()
 BT::NodeStatus NavigateThroughPosesAction::on_success()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus NavigateThroughPosesAction::on_aborted()
 {
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
@@ -55,6 +57,7 @@ BT::NodeStatus NavigateThroughPosesAction::on_cancelled()
 {
   // Set empty error code, action was cancelled
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
diff --git a/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp
index 07bea22436f..4bfac9e8829 100644
--- a/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp
+++ b/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp
@@ -41,12 +41,14 @@ void NavigateToPoseAction::on_tick()
 BT::NodeStatus NavigateToPoseAction::on_success()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus NavigateToPoseAction::on_aborted()
 {
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
@@ -54,6 +56,7 @@ BT::NodeStatus NavigateToPoseAction::on_cancelled()
 {
   // Set empty error code, action was cancelled
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
diff --git a/nav2_behavior_tree/plugins/action/smooth_path_action.cpp b/nav2_behavior_tree/plugins/action/smooth_path_action.cpp
index 3a67904558b..ebd72cbf137 100644
--- a/nav2_behavior_tree/plugins/action/smooth_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/smooth_path_action.cpp
@@ -46,12 +46,14 @@ BT::NodeStatus SmoothPathAction::on_success()
   setOutput("was_completed", result_.result->was_completed);
   // Set empty error code, action was successful
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus SmoothPathAction::on_aborted()
 {
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
@@ -59,6 +61,7 @@ BT::NodeStatus SmoothPathAction::on_cancelled()
 {
   // Set empty error code, action was cancelled
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
diff --git a/nav2_behavior_tree/plugins/action/spin_action.cpp b/nav2_behavior_tree/plugins/action/spin_action.cpp
index d10bb83f32b..920384c065b 100644
--- a/nav2_behavior_tree/plugins/action/spin_action.cpp
+++ b/nav2_behavior_tree/plugins/action/spin_action.cpp
@@ -55,18 +55,21 @@ void SpinAction::on_tick()
 BT::NodeStatus SpinAction::on_success()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }
 
 BT::NodeStatus SpinAction::on_aborted()
 {
   setOutput("error_code_id", result_.result->error_code);
+  setOutput("error_msg", result_.result->error_msg);
   return BT::NodeStatus::FAILURE;
 }
 
 BT::NodeStatus SpinAction::on_cancelled()
 {
   setOutput("error_code_id", ActionResult::NONE);
+  setOutput("error_msg", "");
   return BT::NodeStatus::SUCCESS;
 }