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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
@@ -1092,6 +1092,7 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../migration/Jazzy.html">Jazzy to Kilted</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#behaviortree-error-msg">BehaviorTree error_msg</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#twiststamped-default-cmdvel-change">TwistStamped Default CmdVel Change</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#new-nav2-loopback-simulator">New Nav2 Loopback Simulator</a></li>
 <li class="toctree-l3"><a class="reference internal" href="../../migration/Jazzy.html#docking-with-static-infrastructure-or-dynamic-docking">Docking with Static Infrastructure or Dynamic Docking</a></li>

diff --git a/_sources/behavior_trees/trees/follow_point.rst.txt b/_sources/behavior_trees/trees/follow_point.rst.txt
@@ -28,13 +28,13 @@ This behavior tree will execute infinitely in time until the navigation request
         <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/_sources/behavior_trees/trees/nav_through_poses_recovery.rst.txt b/_sources/behavior_trees/trees/nav_through_poses_recovery.rst.txt
@@ -47,7 +47,7 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
             <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}"/>
@@ -56,7 +56,7 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
             </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"/>
@@ -75,9 +75,9 @@ While this behavior tree does not make use of it, the ``PlannerSelector``, ``Con
                 <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="0.05" error_code_id="{backup_error_code}"/>
+              <BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}" error_msg="{backup_error_msg}"/>
             </RoundRobin>
           </ReactiveFallback>
         </Sequence>