diff --git a/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml b/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml
index 31fad8f..ec47f72 100644
--- a/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml
+++ b/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml
@@ -1,4 +1,4 @@
-# GPS WPF CHANGES: 
+# GPS WPF CHANGES:
 # - amcl params where removed. They are not needed because global localization is provided
 #   by an ekf node on robot_localization fusing gps data with local odometry sources
 # - static layer is removed from both costmaps, in this tutorial we assume there is no map
@@ -74,9 +74,19 @@ bt_navigator:
       - nav2_assisted_teleop_cancel_bt_node
       - nav2_drive_on_heading_cancel_bt_node
       - nav2_is_battery_charging_condition_bt_node
-    error_code_names:
-      - compute_path_error_code
-      - follow_path_error_code
+    error_code_name_prefixes:
+      - assisted_teleop
+      - backup
+      - compute_path
+      - dock_robot
+      - drive_on_heading
+      - follow_path
+      - nav_thru_poses
+      - nav_to_pose
+      - route
+      - spin
+      - undock_robot
+      - wait
 
 controller_server:
   ros__parameters:
@@ -200,7 +210,7 @@ global_costmap:
       robot_radius: 0.22
       resolution: 0.1
       # When using GPS navigation you will potentially traverse huge environments which are not practical to
-      # fit on a big static costmap. Thus it is recommended to use a rolling global costmap large enough to 
+      # fit on a big static costmap. Thus it is recommended to use a rolling global costmap large enough to
       # contain each pair of successive waypoints. See: https://github.com/ros-planning/navigation2/issues/2174
       rolling_window: True
       width: 50
diff --git a/nav2_sms_behavior/action/SendSms.action b/nav2_sms_behavior/action/SendSms.action
index 92d6289..a4b62a2 100644
--- a/nav2_sms_behavior/action/SendSms.action
+++ b/nav2_sms_behavior/action/SendSms.action
@@ -2,7 +2,15 @@
 string message
 ---
 #result definition
+
+# Error codes
+# Note: The expected priority order of the errors should match the message order
+uint16 NONE=0
+uint16 UNKNOWN=51110
+uint16 SMS_SEND_FAILED=51111
+
 builtin_interfaces/Duration total_elapsed_time
 uint16 error_code
+string error_msg
 ---
 #feedback definition
diff --git a/nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp b/nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp
index 35a6f59..1e12135 100644
--- a/nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp
+++ b/nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp
@@ -17,6 +17,7 @@ namespace nav2_sms_behavior
 
 using namespace nav2_behaviors;  // NOLINT
 using Action = nav2_sms_behavior::action::SendSms;
+using ActionResult = Action::Result;
 
 class SendSms : public TimedBehavior<Action>
 {
diff --git a/nav2_sms_behavior/src/send_sms.cpp b/nav2_sms_behavior/src/send_sms.cpp
index 06fe0e2..1e70a6c 100644
--- a/nav2_sms_behavior/src/send_sms.cpp
+++ b/nav2_sms_behavior/src/send_sms.cpp
@@ -45,8 +45,8 @@ ResultStatus SendSms::onRun(const std::shared_ptr<const Action::Goal> command)
     "",
     false);
   if (!message_success) {
-    RCLCPP_INFO(node->get_logger(), "SMS send failed.");
-    return ResultStatus{Status::FAILED};
+    RCLCPP_INFO(node->get_logger(), "SMS send failed: %s.", response.c_str());
+    return ResultStatus{Status::FAILED, ActionResult::SMS_SEND_FAILED, response};
   }
 
   RCLCPP_INFO(node->get_logger(), "SMS sent successfully!");
diff --git a/sam_bot_description/config/nav2_params.yaml b/sam_bot_description/config/nav2_params.yaml
index d4141f2..8939de2 100644
--- a/sam_bot_description/config/nav2_params.yaml
+++ b/sam_bot_description/config/nav2_params.yaml
@@ -61,9 +61,19 @@ bt_navigator:
     # Built-in plugins are added automatically
     # plugin_lib_names: []
 
-    error_code_names:
-      - compute_path_error_code
-      - follow_path_error_code
+    error_code_name_prefixes:
+      - assisted_teleop
+      - backup
+      - compute_path
+      - dock_robot
+      - drive_on_heading
+      - follow_path
+      - nav_thru_poses
+      - nav_to_pose
+      - route
+      - spin
+      - undock_robot
+      - wait
 
 controller_server:
   ros__parameters: