diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index 5fbba8bf064..58c1f422b5a 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -187,6 +187,15 @@ class BtActionNode : public BT::ActionNodeBase
     return BT::NodeStatus::SUCCESS;
   }
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  virtual void on_timeout()
+  {
+    return;
+  }
+
   /**
    * @brief The main override required by a BT action
    * @return BT::NodeStatus Status of tick execution
@@ -231,6 +240,7 @@ class BtActionNode : public BT::ActionNodeBase
             "Timed out while waiting for action server to acknowledge goal request for %s",
             action_name_.c_str());
           future_goal_handle_.reset();
+          on_timeout();
           return BT::NodeStatus::FAILURE;
         }
       }
@@ -261,6 +271,7 @@ class BtActionNode : public BT::ActionNodeBase
               "Timed out while waiting for action server to acknowledge goal request for %s",
               action_name_.c_str());
             future_goal_handle_.reset();
+            on_timeout();
             return BT::NodeStatus::FAILURE;
           }
         }
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 f3f7e0794c0..f4a740abc84 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
@@ -66,6 +66,12 @@ class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTele
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to read parameters and initialize class variables
    */
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 85d9a9246b5..c608ff1c946 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
@@ -66,6 +66,12 @@ class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to read parameters and initialize class variables
    */
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp
index c56da81de5d..6d258552a7f 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_and_track_route_action.hpp
@@ -64,6 +64,12 @@ class ComputeAndTrackRouteAction : public BtActionNode<nav2_msgs::action::Comput
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to perform some user-defined operation after a timeout
    * waiting for a result that hasn't been received yet
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 8fb2844ab7b..4e3cc400ff0 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
@@ -69,6 +69,12 @@ class ComputePathThroughPosesAction
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * \brief Override required by the a BT action. Cancel the action and set the path output
    */
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 f5596f78068..157b27cea88 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
@@ -66,6 +66,12 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * \brief Override required by the a BT action. Cancel the action and set the path output
    */
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp
index 560c49e5605..ac810381d42 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_route_action.hpp
@@ -64,6 +64,12 @@ class ComputeRouteAction : public BtActionNode<nav2_msgs::action::ComputeRoute>
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * \brief Override required by the a BT action. Cancel the action and set the path output
    */
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 55a30e74c3b..2a2ac3948ca 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
@@ -88,6 +88,12 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
    * @brief Function to perform some user-defined operation upon cancellation of the action
    */
   BT::NodeStatus on_cancelled() override;
+
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
 };
 
 }  // namespace nav2_behavior_tree
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 14cf510d776..80e24e4f0fa 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
@@ -66,6 +66,12 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to perform some user-defined operation after a timeout
    * waiting for a result that hasn't been received yet
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 fa175002a15..71c6597683f 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
@@ -67,6 +67,12 @@ class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::Naviga
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
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 e277f90aa22..770bfee0ff8 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
@@ -67,6 +67,12 @@ class NavigateToPoseAction : public BtActionNode<nav2_msgs::action::NavigateToPo
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
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 4ca9ddebab9..26a9092df3f 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
@@ -65,6 +65,12 @@ class SmoothPathAction : public nav2_behavior_tree::BtActionNode<nav2_msgs::acti
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports
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 32ef354498b..e66de027c28 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
@@ -50,6 +50,12 @@ class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
    */
   void on_tick() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to read parameters and initialize class variables
    */
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
index f4e65a7bf82..866dc130901 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
@@ -50,6 +50,12 @@ class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
    */
   void on_tick() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * @brief Function to read parameters and initialize class variables
    */
diff --git a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
index 2c95dda33a7..3f293f588bf 100644
--- a/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
+++ b/nav2_behavior_tree/plugins/action/assisted_teleop_action.cpp
@@ -69,6 +69,12 @@ BT::NodeStatus AssistedTeleopAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void AssistedTeleopAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp/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 5e29107c9e4..d31ff9aecb1 100644
--- a/nav2_behavior_tree/plugins/action/back_up_action.cpp
+++ b/nav2_behavior_tree/plugins/action/back_up_action.cpp
@@ -78,6 +78,12 @@ BT::NodeStatus BackUpAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void BackUpAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/action/compute_and_track_route_action.cpp b/nav2_behavior_tree/plugins/action/compute_and_track_route_action.cpp
index cc6db6fbe8b..eb2edc19b76 100644
--- a/nav2_behavior_tree/plugins/action/compute_and_track_route_action.cpp
+++ b/nav2_behavior_tree/plugins/action/compute_and_track_route_action.cpp
@@ -75,6 +75,12 @@ BT::NodeStatus ComputeAndTrackRouteAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void ComputeAndTrackRouteAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 void ComputeAndTrackRouteAction::on_wait_for_result(
   std::shared_ptr<const Action::Feedback>/*feedback*/)
 {
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 3b778903df5..72a62258599 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
@@ -66,6 +66,12 @@ BT::NodeStatus ComputePathThroughPosesAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void ComputePathThroughPosesAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 void ComputePathThroughPosesAction::halt()
 {
   nav_msgs::msg::Path empty_path;
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 41772aca79b..0d80527c913 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
@@ -82,6 +82,12 @@ BT::NodeStatus ComputePathToPoseAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void ComputePathToPoseAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 void ComputePathToPoseAction::halt()
 {
   nav_msgs::msg::Path empty_path;
diff --git a/nav2_behavior_tree/plugins/action/compute_route_action.cpp b/nav2_behavior_tree/plugins/action/compute_route_action.cpp
index cc16125c74b..6613d3e7b91 100644
--- a/nav2_behavior_tree/plugins/action/compute_route_action.cpp
+++ b/nav2_behavior_tree/plugins/action/compute_route_action.cpp
@@ -87,6 +87,12 @@ BT::NodeStatus ComputeRouteAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void ComputeRouteAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 void ComputeRouteAction::halt()
 {
   resetPorts();
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 e3a0fc02765..b612c16f86b 100644
--- a/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
+++ b/nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
@@ -76,6 +76,12 @@ BT::NodeStatus DriveOnHeadingAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void DriveOnHeadingAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/action/follow_path_action.cpp b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
index 875c1b71c44..e89a23e282a 100644
--- a/nav2_behavior_tree/plugins/action/follow_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
@@ -58,6 +58,12 @@ BT::NodeStatus FollowPathAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void FollowPathAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::CONTROLLER_TIMED_OUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 void FollowPathAction::on_wait_for_result(
   std::shared_ptr<const Action::Feedback>/*feedback*/)
 {
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 be6272317ab..3b362d55300 100644
--- a/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp
+++ b/nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp
@@ -61,6 +61,11 @@ BT::NodeStatus NavigateThroughPosesAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void NavigateThroughPosesAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
 
 }  // namespace nav2_behavior_tree
 
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 4bfac9e8829..775314babc4 100644
--- a/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp
+++ b/nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp
@@ -60,6 +60,12 @@ BT::NodeStatus NavigateToPoseAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void NavigateToPoseAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/action/smooth_path_action.cpp b/nav2_behavior_tree/plugins/action/smooth_path_action.cpp
index ebd72cbf137..cb420e0508e 100644
--- a/nav2_behavior_tree/plugins/action/smooth_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/smooth_path_action.cpp
@@ -65,6 +65,12 @@ BT::NodeStatus SmoothPathAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void SmoothPathAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/action/spin_action.cpp b/nav2_behavior_tree/plugins/action/spin_action.cpp
index c41d2a97744..f5b1cb07fa9 100644
--- a/nav2_behavior_tree/plugins/action/spin_action.cpp
+++ b/nav2_behavior_tree/plugins/action/spin_action.cpp
@@ -68,6 +68,12 @@ BT::NodeStatus SpinAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void SpinAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp/bt_factory.h"
diff --git a/nav2_behavior_tree/plugins/action/wait_action.cpp b/nav2_behavior_tree/plugins/action/wait_action.cpp
index 4a357fd1b94..8d22313e04b 100644
--- a/nav2_behavior_tree/plugins/action/wait_action.cpp
+++ b/nav2_behavior_tree/plugins/action/wait_action.cpp
@@ -73,6 +73,12 @@ BT::NodeStatus WaitAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void WaitAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp/bt_factory.h"
diff --git a/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/dock_robot.hpp b/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/dock_robot.hpp
index 0a07e12e7f7..8f4a4afeff2 100644
--- a/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/dock_robot.hpp
+++ b/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/dock_robot.hpp
@@ -68,6 +68,12 @@ class DockRobotAction
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * \brief Override required by the a BT action. Cancel the action and set the path output
    */
diff --git a/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/undock_robot.hpp b/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/undock_robot.hpp
index 8674e477791..d0e78e3611f 100644
--- a/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/undock_robot.hpp
+++ b/nav2_docking/opennav_docking_bt/include/opennav_docking_bt/undock_robot.hpp
@@ -68,6 +68,12 @@ class UndockRobotAction
    */
   BT::NodeStatus on_cancelled() override;
 
+  /**
+   * @brief Function to perform work in a BT Node when the action server times out
+   * Such as setting the error code ID status to timed out for action clients.
+   */
+  void on_timeout() override;
+
   /**
    * \brief Override required by the a BT action. Cancel the action and set the path output
    */
diff --git a/nav2_docking/opennav_docking_bt/src/dock_robot.cpp b/nav2_docking/opennav_docking_bt/src/dock_robot.cpp
index be3e58b8c8c..35cea456b4f 100644
--- a/nav2_docking/opennav_docking_bt/src/dock_robot.cpp
+++ b/nav2_docking/opennav_docking_bt/src/dock_robot.cpp
@@ -67,6 +67,12 @@ BT::NodeStatus DockRobotAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void DockRobotAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 void DockRobotAction::halt()
 {
   BtActionNode::halt();
diff --git a/nav2_docking/opennav_docking_bt/src/undock_robot.cpp b/nav2_docking/opennav_docking_bt/src/undock_robot.cpp
index 0669bad92bd..400615e6f0d 100644
--- a/nav2_docking/opennav_docking_bt/src/undock_robot.cpp
+++ b/nav2_docking/opennav_docking_bt/src/undock_robot.cpp
@@ -58,6 +58,12 @@ BT::NodeStatus UndockRobotAction::on_cancelled()
   return BT::NodeStatus::SUCCESS;
 }
 
+void UndockRobotAction::on_timeout()
+{
+  setOutput("error_code_id", ActionResult::TIMEOUT);
+  setOutput("error_msg", "Behavior Tree action client timed out waiting.");
+}
+
 void UndockRobotAction::halt()
 {
   BtActionNode::halt();
diff --git a/nav2_msgs/action/DockRobot.action b/nav2_msgs/action/DockRobot.action
index e3e2fbf78cb..ae70c33413a 100644
--- a/nav2_msgs/action/DockRobot.action
+++ b/nav2_msgs/action/DockRobot.action
@@ -21,6 +21,7 @@ uint16 FAILED_TO_STAGE=903
 uint16 FAILED_TO_DETECT_DOCK=904
 uint16 FAILED_TO_CONTROL=905
 uint16 FAILED_TO_CHARGE=906
+uint16 TIMEOUT=907
 uint16 UNKNOWN=999
 
 bool success True  # docking success status
diff --git a/nav2_msgs/action/NavigateThroughPoses.action b/nav2_msgs/action/NavigateThroughPoses.action
index 8bbaa361e73..1d7a1951578 100644
--- a/nav2_msgs/action/NavigateThroughPoses.action
+++ b/nav2_msgs/action/NavigateThroughPoses.action
@@ -11,6 +11,7 @@ uint16 NONE=0
 uint16 UNKNOWN=9100
 uint16 FAILED_TO_LOAD_BEHAVIOR_TREE=9101
 uint16 TF_ERROR=9102
+uint16 TIMEOUT=9103
 
 uint16 error_code
 string error_msg
diff --git a/nav2_msgs/action/NavigateToPose.action b/nav2_msgs/action/NavigateToPose.action
index 6da35cee510..14272c5663a 100644
--- a/nav2_msgs/action/NavigateToPose.action
+++ b/nav2_msgs/action/NavigateToPose.action
@@ -10,6 +10,7 @@ uint16 NONE=0
 uint16 UNKNOWN=9000
 uint16 FAILED_TO_LOAD_BEHAVIOR_TREE=9001
 uint16 TF_ERROR=9002
+uint16 TIMEOUT=9003
 
 uint16 error_code
 string error_msg
diff --git a/nav2_msgs/action/UndockRobot.action b/nav2_msgs/action/UndockRobot.action
index 61747830607..5bb882a2e41 100644
--- a/nav2_msgs/action/UndockRobot.action
+++ b/nav2_msgs/action/UndockRobot.action
@@ -16,6 +16,7 @@ float32 max_undocking_time 30.0 # Maximum time to undock
 uint16 NONE=0
 uint16 DOCK_NOT_VALID=902
 uint16 FAILED_TO_CONTROL=905
+uint16 TIMEOUT=907
 uint16 UNKNOWN=999
 
 bool success True  # docking success status
diff --git a/nav2_msgs/action/Wait.action b/nav2_msgs/action/Wait.action
index 1496e3371ed..c6b20d4f93d 100644
--- a/nav2_msgs/action/Wait.action
+++ b/nav2_msgs/action/Wait.action
@@ -8,6 +8,7 @@ string error_msg
 
 uint16 NONE=0
 uint16 UNKNOWN=740
+uint16 TIMEOUT=741
 ---
 #feedback definition
 builtin_interfaces/Duration time_left