diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
index bc22714ef58..5bfc04c5495 100644
--- a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
+++ b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
@@ -102,9 +102,21 @@ NavigateToPoseNavigator::goalReceived(ActionT::Goal::ConstSharedPtr goal)
 
 void
 NavigateToPoseNavigator::goalCompleted(
-  typename ActionT::Result::SharedPtr /*result*/,
+  typename ActionT::Result::SharedPtr result,
   const nav2_behavior_tree::BtStatus /*final_bt_status*/)
 {
+  if (result->error_code == 0) {
+    if (bt_action_server_->populateInternalError(result)) {
+      RCLCPP_WARN(logger_,
+        "NavigateToPoseNavigator::goalCompleted, internal error %d:%s.",
+        result->error_code,
+        result->error_msg.c_str());
+    }
+  } else {
+    RCLCPP_WARN(logger_, "NavigateToPoseNavigator::goalCompleted error %d:%s.",
+      result->error_code,
+      result->error_msg.c_str());
+  }
 }
 
 void