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 a97993c7738..369e7ab0f98 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
@@ -29,6 +29,10 @@ namespace nav2_behavior_tree
  */
 class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
 {
+  using Action = nav2_msgs::action::FollowPath;
+  using ActionResult = Action::Result;
+  using ActionGoal = Action::Goal;
+
 public:
   /**
    * @brief A constructor for nav2_behavior_tree::FollowPathAction
@@ -46,13 +50,28 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
    */
   void on_tick() override;
 
+  /**
+   * @brief Function to perform some user-defined operation upon successful completion of the action
+   */
+  BT::NodeStatus on_success() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon abortion of the action
+   */
+  BT::NodeStatus on_aborted() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon cancellation of the action
+   */
+  BT::NodeStatus on_cancelled() override;
+
   /**
    * @brief Function to perform some user-defined operation after a timeout
    * waiting for a result that hasn't been received yet
    * @param feedback shared_ptr to latest feedback message
    */
   void on_wait_for_result(
-    std::shared_ptr<const nav2_msgs::action::FollowPath::Feedback> feedback) override;
+    std::shared_ptr<const Action::Feedback> feedback) override;
 
   /**
    * @brief Creates list of BT ports
@@ -65,6 +84,8 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
         BT::InputPort<nav_msgs::msg::Path>("path", "Path to follow"),
         BT::InputPort<std::string>("controller_id", ""),
         BT::InputPort<std::string>("goal_checker_id", ""),
+        BT::OutputPort<ActionResult::_error_code_type>(
+          "follow_path_error_code", "The follow path error code"),
       });
   }
 };
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index f2883667f5d..95df6295029 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -113,6 +113,7 @@
       <input_port name="goal_checker_id">Goal checker</input_port>
       <input_port name="server_name">Server name</input_port>
       <input_port name="server_timeout">Server timeout</input_port>
+      <output_port name="follow_path_error_code">Follow Path error code</output_port>
     </Action>
 
     <Action ID="NavigateToPose">
diff --git a/nav2_behavior_tree/plugins/action/follow_path_action.cpp b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
index 0fc0dc5b574..c90d8fb65a1 100644
--- a/nav2_behavior_tree/plugins/action/follow_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
@@ -24,7 +24,7 @@ FollowPathAction::FollowPathAction(
   const std::string & xml_tag_name,
   const std::string & action_name,
   const BT::NodeConfiguration & conf)
-: BtActionNode<nav2_msgs::action::FollowPath>(xml_tag_name, action_name, conf)
+: BtActionNode<Action>(xml_tag_name, action_name, conf)
 {
 }
 
@@ -35,8 +35,27 @@ void FollowPathAction::on_tick()
   getInput("goal_checker_id", goal_.goal_checker_id);
 }
 
+BT::NodeStatus FollowPathAction::on_success()
+{
+  setOutput("follow_path_error_code", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
+BT::NodeStatus FollowPathAction::on_aborted()
+{
+  setOutput("follow_path_error_code", result_.result->error_code);
+  return BT::NodeStatus::FAILURE;
+}
+
+BT::NodeStatus FollowPathAction::on_cancelled()
+{
+  // Set empty error code, action was cancelled
+  setOutput("compute_path_to_pose_error_code", ActionGoal::NONE);
+  return BT::NodeStatus::SUCCESS;
+}
+
 void FollowPathAction::on_wait_for_result(
-  std::shared_ptr<const nav2_msgs::action::FollowPath::Feedback>/*feedback*/)
+  std::shared_ptr<const Action::Feedback>/*feedback*/)
 {
   // Grab the new path
   nav_msgs::msg::Path new_path;
diff --git a/nav2_constrained_smoother/src/constrained_smoother.cpp b/nav2_constrained_smoother/src/constrained_smoother.cpp
index 4ffa4a21c3c..4ce698cda16 100644
--- a/nav2_constrained_smoother/src/constrained_smoother.cpp
+++ b/nav2_constrained_smoother/src/constrained_smoother.cpp
@@ -21,7 +21,6 @@
 #include <vector>
 
 #include "nav2_constrained_smoother/constrained_smoother.hpp"
-#include "nav2_core/exceptions.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
@@ -138,7 +137,7 @@ bool ConstrainedSmoother::smooth(nav_msgs::msg::Path & path, const rclcpp::Durat
       logger_,
       "%s: failed to smooth plan, Ceres could not find a usable solution to optimize.",
       plugin_name_.c_str());
-    throw new nav2_core::PlannerException(
+    throw std::runtime_error(
             "Failed to smooth plan, Ceres could not find a usable solution.");
   }
 
diff --git a/nav2_controller/plugins/simple_progress_checker.cpp b/nav2_controller/plugins/simple_progress_checker.cpp
index 5cfe2da8417..120b4320da1 100644
--- a/nav2_controller/plugins/simple_progress_checker.cpp
+++ b/nav2_controller/plugins/simple_progress_checker.cpp
@@ -17,7 +17,6 @@
 #include <string>
 #include <memory>
 #include <vector>
-#include "nav2_core/exceptions.hpp"
 #include "nav_2d_utils/conversions.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/pose2_d.hpp"
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index baa9775348c..154efef2bee 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -20,7 +20,7 @@
 #include <limits>
 
 #include "lifecycle_msgs/msg/state.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/controller_exceptions.hpp"
 #include "nav_2d_utils/conversions.hpp"
 #include "nav_2d_utils/tf_help.hpp"
 #include "nav2_util/node_utils.hpp"
@@ -371,8 +371,7 @@ void ControllerServer::computeControl()
     if (findControllerId(c_name, current_controller)) {
       current_controller_ = current_controller;
     } else {
-      action_server_->terminate_current();
-      return;
+      throw nav2_core::ControllerException("Failed to find controller name: " + c_name);
     }
 
     std::string gc_name = action_server_->get_current_goal()->goal_checker_id;
@@ -380,8 +379,7 @@ void ControllerServer::computeControl()
     if (findGoalCheckerId(gc_name, current_goal_checker)) {
       current_goal_checker_ = current_goal_checker;
     } else {
-      action_server_->terminate_current();
-      return;
+      throw nav2_core::ControllerException("Failed to find goal checker name: " + gc_name);
     }
 
     setPlannerPath(action_server_->get_current_goal()->path);
@@ -423,10 +421,47 @@ void ControllerServer::computeControl()
           controller_frequency_);
       }
     }
-  } catch (nav2_core::PlannerException & e) {
-    RCLCPP_ERROR(this->get_logger(), e.what());
+  } catch (nav2_core::ControllerTFError & e) {
+    RCLCPP_ERROR(this->get_logger(), "%s", e.what());
+    publishZeroVelocity();
+    std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
+    result->error_code = Action::Goal::TF_ERROR;
+    action_server_->terminate_current(result);
+    return;
+  } catch (nav2_core::NoValidControl & e) {
+    RCLCPP_ERROR(this->get_logger(), "%s", e.what());
+    publishZeroVelocity();
+    std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
+    result->error_code = Action::Goal::NO_VALID_CONTROL;
+    action_server_->terminate_current(result);
+    return;
+  } catch (nav2_core::FailedToMakeProgress & e) {
+    RCLCPP_ERROR(this->get_logger(), "%s", e.what());
+    publishZeroVelocity();
+    std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
+    result->error_code = Action::Goal::FAILED_TO_MAKE_PROGRESS;
+    action_server_->terminate_current(result);
+    return;
+  } catch (nav2_core::PatienceExceeded & e) {
+    RCLCPP_ERROR(this->get_logger(), "%s", e.what());
+    publishZeroVelocity();
+    std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
+    result->error_code = Action::Goal::PATIENCE_EXCEEDED;
+    action_server_->terminate_current(result);
+    return;
+  } catch (nav2_core::InvalidPath & e) {
+    RCLCPP_ERROR(this->get_logger(), "%s", e.what());
+    publishZeroVelocity();
+    std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
+    result->error_code = Action::Goal::INVALID_PATH;
+    action_server_->terminate_current(result);
+    return;
+  } catch (nav2_core::ControllerException & e) {
+    RCLCPP_ERROR(this->get_logger(), "%s", e.what());
     publishZeroVelocity();
-    action_server_->terminate_current();
+    std::shared_ptr<Action::Result> result = std::make_shared<Action::Result>();
+    result->error_code = Action::Goal::UNKNOWN;
+    action_server_->terminate_current(result);
     return;
   } catch (std::exception & e) {
     RCLCPP_ERROR(this->get_logger(), "%s", e.what());
@@ -450,7 +485,7 @@ void ControllerServer::setPlannerPath(const nav_msgs::msg::Path & path)
     get_logger(),
     "Providing path to the controller %s", current_controller_.c_str());
   if (path.poses.empty()) {
-    throw nav2_core::PlannerException("Invalid path, Path is empty.");
+    throw nav2_core::InvalidPath("Path is empty.");
   }
   controllers_[current_controller_]->setPlan(path);
 
@@ -470,11 +505,11 @@ void ControllerServer::computeAndPublishVelocity()
   geometry_msgs::msg::PoseStamped pose;
 
   if (!getRobotPose(pose)) {
-    throw nav2_core::PlannerException("Failed to obtain robot pose");
+    throw nav2_core::ControllerTFError("Failed to obtain robot pose");
   }
 
   if (!progress_checker_->check(pose)) {
-    throw nav2_core::PlannerException("Failed to make progress");
+    throw nav2_core::FailedToMakeProgress("Failed to make progress");
   }
 
   nav_2d_msgs::msg::Twist2D twist = getThresholdedTwist(odom_sub_->getTwist());
@@ -488,7 +523,9 @@ void ControllerServer::computeAndPublishVelocity()
       nav_2d_utils::twist2Dto3D(twist),
       goal_checkers_[current_goal_checker_].get());
     last_valid_cmd_time_ = now();
-  } catch (nav2_core::PlannerException & e) {
+    // Only no valid control exception types are valid to attempt to have control patience, as
+    // other types will not be resolved with more attempts
+  } catch (nav2_core::NoValidControl & e) {
     if (failure_tolerance_ > 0 || failure_tolerance_ == -1.0) {
       RCLCPP_WARN(this->get_logger(), e.what());
       cmd_vel_2d.twist.angular.x = 0;
@@ -502,10 +539,10 @@ void ControllerServer::computeAndPublishVelocity()
       if ((now() - last_valid_cmd_time_).seconds() > failure_tolerance_ &&
         failure_tolerance_ != -1.0)
       {
-        throw nav2_core::PlannerException("Controller patience exceeded");
+        throw nav2_core::PatienceExceeded("Controller patience exceeded");
       }
     } else {
-      throw nav2_core::PlannerException(e.what());
+      throw nav2_core::NoValidControl(e.what());
     }
   }
 
diff --git a/nav2_core/include/nav2_core/controller_exceptions.hpp b/nav2_core/include/nav2_core/controller_exceptions.hpp
new file mode 100644
index 00000000000..bf9c22f4e6e
--- /dev/null
+++ b/nav2_core/include/nav2_core/controller_exceptions.hpp
@@ -0,0 +1,67 @@
+// Copyright (c) 2022. Joshua Wallace
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+//  limitations under the License.
+
+#ifndef NAV2_CORE__CONTROLLER_EXCEPTIONS_HPP_
+#define NAV2_CORE__CONTROLLER_EXCEPTIONS_HPP_
+
+#include <stdexcept>
+#include <string>
+
+namespace nav2_core
+{
+
+class ControllerException : public std::runtime_error
+{
+public:
+  explicit ControllerException(const std::string & description)
+  : std::runtime_error(description) {}
+};
+
+class ControllerTFError : public ControllerException
+{
+public:
+  explicit ControllerTFError(const std::string & description)
+  : ControllerException(description) {}
+};
+
+class FailedToMakeProgress : public ControllerException
+{
+public:
+  explicit FailedToMakeProgress(const std::string & description)
+  : ControllerException(description) {}
+};
+
+class PatienceExceeded : public ControllerException
+{
+public:
+  explicit PatienceExceeded(const std::string & description)
+  : ControllerException(description) {}
+};
+
+class InvalidPath : public ControllerException
+{
+public:
+  explicit InvalidPath(const std::string & description)
+  : ControllerException(description) {}
+};
+
+class NoValidControl : public ControllerException
+{
+public:
+  explicit NoValidControl(const std::string & description)
+  : ControllerException(description) {}
+};
+
+}  // namespace nav2_core
+
+#endif  // NAV2_CORE__CONTROLLER_EXCEPTIONS_HPP_
diff --git a/nav2_core/include/nav2_core/exceptions.hpp b/nav2_core/include/nav2_core/planner_exceptions.hpp
similarity index 95%
rename from nav2_core/include/nav2_core/exceptions.hpp
rename to nav2_core/include/nav2_core/planner_exceptions.hpp
index 19a113d2e4c..622ee0f0db3 100644
--- a/nav2_core/include/nav2_core/exceptions.hpp
+++ b/nav2_core/include/nav2_core/planner_exceptions.hpp
@@ -33,8 +33,8 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef NAV2_CORE__EXCEPTIONS_HPP_
-#define NAV2_CORE__EXCEPTIONS_HPP_
+#ifndef NAV2_CORE__PLANNER_EXCEPTIONS_HPP_
+#define NAV2_CORE__PLANNER_EXCEPTIONS_HPP_
 
 #include <stdexcept>
 #include <string>
@@ -101,4 +101,4 @@ class PlannerTFError : public PlannerException
 
 }  // namespace nav2_core
 
-#endif  // NAV2_CORE__EXCEPTIONS_HPP_
+#endif  // NAV2_CORE__PLANNER_EXCEPTIONS_HPP_
diff --git a/nav2_dwb_controller/dwb_core/include/dwb_core/exceptions.hpp b/nav2_dwb_controller/dwb_core/include/dwb_core/exceptions.hpp
index 157383a4197..66a8bfd9e18 100644
--- a/nav2_dwb_controller/dwb_core/include/dwb_core/exceptions.hpp
+++ b/nav2_dwb_controller/dwb_core/include/dwb_core/exceptions.hpp
@@ -34,35 +34,23 @@
 #ifndef DWB_CORE__EXCEPTIONS_HPP_
 #define DWB_CORE__EXCEPTIONS_HPP_
 
-#include <stdexcept>
 #include <string>
 #include <memory>
 
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/controller_exceptions.hpp"
 
 namespace dwb_core
 {
 
-/**
- * @class PlannerTFException
- * @brief Thrown when the planner cannot complete its operation due to TF errors
- */
-class PlannerTFException : public nav2_core::PlannerException
-{
-public:
-  explicit PlannerTFException(const std::string description)
-  : nav2_core::PlannerException(description) {}
-};
-
 /**
  * @class IllegalTrajectoryException
  * @brief Thrown when one of the critics encountered a fatal error
  */
-class IllegalTrajectoryException : public nav2_core::PlannerException
+class IllegalTrajectoryException : public nav2_core::ControllerException
 {
 public:
-  IllegalTrajectoryException(const std::string critic_name, const std::string description)
-  : nav2_core::PlannerException(description), critic_name_(critic_name) {}
+  IllegalTrajectoryException(const std::string & critic_name, const std::string & description)
+  : nav2_core::ControllerException(description), critic_name_(critic_name) {}
   std::string getCriticName() const {return critic_name_;}
 
 protected:
diff --git a/nav2_dwb_controller/dwb_core/include/dwb_core/illegal_trajectory_tracker.hpp b/nav2_dwb_controller/dwb_core/include/dwb_core/illegal_trajectory_tracker.hpp
index 31c306f6659..aa6a451a1ae 100644
--- a/nav2_dwb_controller/dwb_core/include/dwb_core/illegal_trajectory_tracker.hpp
+++ b/nav2_dwb_controller/dwb_core/include/dwb_core/illegal_trajectory_tracker.hpp
@@ -39,7 +39,7 @@
 #include <utility>
 #include <string>
 #include "dwb_core/exceptions.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/controller_exceptions.hpp"
 
 namespace dwb_core
 {
@@ -66,11 +66,11 @@ class IllegalTrajectoryTracker
  * @brief Thrown when all the trajectories explored are illegal
  */
 class NoLegalTrajectoriesException
-  : public nav2_core::PlannerException
+  : public nav2_core::ControllerException
 {
 public:
   explicit NoLegalTrajectoriesException(const IllegalTrajectoryTracker & tracker)
-  : PlannerException(tracker.getMessage()),
+  : ControllerException(tracker.getMessage()),
     tracker_(tracker) {}
   IllegalTrajectoryTracker tracker_;
 };
diff --git a/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
index be610ba77c4..63ee4ce256a 100644
--- a/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
+++ b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
@@ -44,11 +44,11 @@
 #include "dwb_msgs/msg/critic_score.hpp"
 #include "nav_2d_msgs/msg/twist2_d.hpp"
 #include "nav_2d_utils/conversions.hpp"
-#include "nav_2d_utils/parameters.hpp"
 #include "nav_2d_utils/tf_help.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/lifecycle_node.hpp"
 #include "nav2_util/node_utils.hpp"
+#include "nav2_core/controller_exceptions.hpp"
 #include "pluginlib/class_list_macros.hpp"
 #include "nav_msgs/msg/path.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
@@ -137,7 +137,9 @@ void DWBLocalPlanner::configure(
     loadCritics();
   } catch (const std::exception & e) {
     RCLCPP_ERROR(logger_, "Couldn't load critics! Caught exception: %s", e.what());
-    throw;
+    throw nav2_core::ControllerException(
+            "Couldn't load critics! Caught exception: " +
+            std::string(e.what()));
   }
 }
 
@@ -218,7 +220,9 @@ DWBLocalPlanner::loadCritics()
       plugin->initialize(node, critic_plugin_name, dwb_plugin_name_, costmap_ros_);
     } catch (const std::exception & e) {
       RCLCPP_ERROR(logger_, "Couldn't initialize critic plugin!");
-      throw;
+      throw nav2_core::ControllerException(
+              "Couldn't initialize critic plugin: " +
+              std::string(e.what()));
     }
     RCLCPP_INFO(logger_, "Critic plugin initialized");
   }
@@ -257,9 +261,18 @@ DWBLocalPlanner::computeVelocityCommands(
     geometry_msgs::msg::TwistStamped cmd_vel;
     cmd_vel.twist = nav_2d_utils::twist2Dto3D(cmd_vel2d.velocity);
     return cmd_vel;
-  } catch (const nav2_core::PlannerException & e) {
+  } catch (const nav2_core::ControllerTFError & e) {
     pub_->publishEvaluation(results);
-    throw;
+    throw e;
+  } catch (const nav2_core::InvalidPath & e) {
+    pub_->publishEvaluation(results);
+    throw e;
+  } catch (const nav2_core::NoValidControl & e) {
+    pub_->publishEvaluation(results);
+    throw e;
+  } catch (const nav2_core::ControllerException & e) {
+    pub_->publishEvaluation(results);
+    throw e;
   }
 }
 
@@ -337,7 +350,9 @@ DWBLocalPlanner::computeVelocityCommands(
     pub_->publishLocalPlan(pose.header, empty_traj);
     pub_->publishCostGrid(costmap_ros_, critics_);
 
-    throw;
+    throw nav2_core::NoValidControl(
+            "Could not find a legal trajectory: " +
+            std::string(e.what()));
   }
 }
 
@@ -445,7 +460,7 @@ DWBLocalPlanner::transformGlobalPlan(
   const nav_2d_msgs::msg::Pose2DStamped & pose)
 {
   if (global_plan_.poses.empty()) {
-    throw nav2_core::PlannerException("Received plan with zero length");
+    throw nav2_core::InvalidPath("Received plan with zero length");
   }
 
   // let's get the pose of the robot in the frame of the plan
@@ -454,8 +469,8 @@ DWBLocalPlanner::transformGlobalPlan(
       tf_, global_plan_.header.frame_id, pose,
       robot_pose, transform_tolerance_))
   {
-    throw dwb_core::
-          PlannerTFException("Unable to transform robot pose into global plan's frame");
+    throw nav2_core::
+          ControllerTFError("Unable to transform robot pose into global plan's frame");
   }
 
   // we'll discard points on the plan that are outside the local costmap
@@ -539,7 +554,7 @@ DWBLocalPlanner::transformGlobalPlan(
   }
 
   if (transformed_plan.poses.empty()) {
-    throw nav2_core::PlannerException("Resulting plan has 0 poses in it.");
+    throw nav2_core::InvalidPath("Resulting plan has 0 poses in it.");
   }
   return transformed_plan;
 }
diff --git a/nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp b/nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp
index a7764d4b7a8..b89957f34ec 100644
--- a/nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp
+++ b/nav2_dwb_controller/dwb_core/src/trajectory_utils.cpp
@@ -49,7 +49,7 @@ const geometry_msgs::msg::Pose2D & getClosestPose(
   rclcpp::Duration goal_time = rclcpp::Duration::from_seconds(time_offset);
   const unsigned int num_poses = trajectory.poses.size();
   if (num_poses == 0) {
-    throw nav2_core::PlannerException("Cannot call getClosestPose on empty trajectory.");
+    throw nav2_core::InvalidPath("Cannot call getClosestPose on empty trajectory.");
   }
   unsigned int closest_index = num_poses;
   double closest_diff = 0.0;
@@ -73,7 +73,7 @@ geometry_msgs::msg::Pose2D projectPose(
   rclcpp::Duration goal_time = rclcpp::Duration::from_seconds(time_offset);
   const unsigned int num_poses = trajectory.poses.size();
   if (num_poses == 0) {
-    throw nav2_core::PlannerException("Cannot call projectPose on empty trajectory.");
+    throw nav2_core::InvalidPath("Cannot call projectPose on empty trajectory.");
   }
   if (goal_time <= (trajectory.time_offsets[0])) {
     return trajectory.poses[0];
diff --git a/nav2_msgs/action/FollowPath.action b/nav2_msgs/action/FollowPath.action
index 5462faa2398..9ab82ff4d76 100644
--- a/nav2_msgs/action/FollowPath.action
+++ b/nav2_msgs/action/FollowPath.action
@@ -1,3 +1,13 @@
+# Error codes
+# Note: The expected priority order of the errors should match the message order
+int16 NONE=0
+int16 UNKNOWN=1
+int16 TF_ERROR=2
+int16 INVALID_PATH=3
+int16 PATIENCE_EXCEEDED=4
+int16 FAILED_TO_MAKE_PROGRESS=5
+int16 NO_VALID_CONTROL=6
+
 #goal definition
 nav_msgs/Path path
 string controller_id
@@ -5,6 +15,7 @@ string goal_checker_id
 ---
 #result definition
 std_msgs/Empty result
+int16 error_code
 ---
 #feedback definition
 float32 distance_to_goal
diff --git a/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp b/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp
index 454dd448589..2330a5165b9 100644
--- a/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp
+++ b/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp
@@ -25,7 +25,7 @@
 #include "geometry_msgs/msg/point.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_core/global_planner.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/planner_exceptions.hpp"
 #include "nav_msgs/msg/path.hpp"
 #include "nav2_navfn_planner/navfn.hpp"
 #include "nav2_util/robot_utils.hpp"
diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp
index 40487750015..ad4f71c3b11 100644
--- a/nav2_planner/include/nav2_planner/planner_server.hpp
+++ b/nav2_planner/include/nav2_planner/planner_server.hpp
@@ -39,7 +39,7 @@
 #include "pluginlib/class_list_macros.hpp"
 #include "nav2_core/global_planner.hpp"
 #include "nav2_msgs/srv/is_path_valid.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/planner_exceptions.hpp"
 
 namespace nav2_planner
 {
@@ -253,7 +253,7 @@ class PlannerServer : public nav2_util::LifecycleNode
   // Publishers for the path
   rclcpp_lifecycle::LifecyclePublisher<nav_msgs::msg::Path>::SharedPtr plan_publisher_;
 
-  // Service to deterime if the path is valid
+  // Service to determine if the path is valid
   rclcpp::Service<nav2_msgs::srv::IsPathValid>::SharedPtr is_path_valid_service_;
 };
 
diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
index 4b52dd36166..d5c648bd1a0 100644
--- a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
@@ -21,7 +21,7 @@
 #include <utility>
 
 #include "nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/controller_exceptions.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
@@ -46,7 +46,7 @@ void RegulatedPurePursuitController::configure(
   auto node = parent.lock();
   node_ = parent;
   if (!node) {
-    throw nav2_core::PlannerException("Unable to lock node!");
+    throw nav2_core::ControllerException("Unable to lock node!");
   }
 
   costmap_ros_ = costmap_ros;
@@ -353,7 +353,7 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
   // Collision checking on this velocity heading
   const double & carrot_dist = hypot(carrot_pose.pose.position.x, carrot_pose.pose.position.y);
   if (use_collision_detection_ && isCollisionImminent(pose, linear_vel, angular_vel, carrot_dist)) {
-    throw nav2_core::PlannerException("RegulatedPurePursuitController detected collision ahead!");
+    throw nav2_core::NoValidControl("RegulatedPurePursuitController detected collision ahead!");
   }
 
   // populate and return message
@@ -579,7 +579,7 @@ double RegulatedPurePursuitController::costAtPose(const double & x, const double
       logger_,
       "The dimensions of the costmap is too small to fully include your robot's footprint, "
       "thusly the robot cannot proceed further");
-    throw nav2_core::PlannerException(
+    throw nav2_core::ControllerException(
             "RegulatedPurePursuitController: Dimensions of the costmap are too small "
             "to encapsulate the robot footprint at current speeds!");
   }
@@ -690,13 +690,13 @@ nav_msgs::msg::Path RegulatedPurePursuitController::transformGlobalPlan(
   const geometry_msgs::msg::PoseStamped & pose)
 {
   if (global_plan_.poses.empty()) {
-    throw nav2_core::PlannerException("Received plan with zero length");
+    throw nav2_core::InvalidPath("Received plan with zero length");
   }
 
   // let's get the pose of the robot in the frame of the plan
   geometry_msgs::msg::PoseStamped robot_pose;
   if (!transformPose(global_plan_.header.frame_id, pose, robot_pose)) {
-    throw nav2_core::PlannerException("Unable to transform robot pose into global plan's frame");
+    throw nav2_core::ControllerTFError("Unable to transform robot pose into global plan's frame");
   }
 
   // We'll discard points on the plan that are outside the local costmap
@@ -729,7 +729,9 @@ nav_msgs::msg::Path RegulatedPurePursuitController::transformGlobalPlan(
       stamped_pose.header.frame_id = global_plan_.header.frame_id;
       stamped_pose.header.stamp = robot_pose.header.stamp;
       stamped_pose.pose = global_plan_pose.pose;
-      transformPose(costmap_ros_->getBaseFrameID(), stamped_pose, transformed_pose);
+      if (!transformPose(costmap_ros_->getBaseFrameID(), stamped_pose, transformed_pose)) {
+        throw nav2_core::ControllerTFError("Unable to transform plan pose into local frame");
+      }
       transformed_pose.pose.position.z = 0.0;
       return transformed_pose;
     };
@@ -749,7 +751,7 @@ nav_msgs::msg::Path RegulatedPurePursuitController::transformGlobalPlan(
   global_path_pub_->publish(transformed_plan);
 
   if (transformed_plan.poses.empty()) {
-    throw nav2_core::PlannerException("Resulting plan has 0 poses in it.");
+    throw nav2_core::InvalidPath("Resulting plan has 0 poses in it.");
   }
 
   return transformed_plan;
diff --git a/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp b/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
index 83d814dda07..51bb277fedf 100644
--- a/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
+++ b/nav2_regulated_pure_pursuit_controller/test/test_regulated_pp.cpp
@@ -25,7 +25,7 @@
 #include "path_utils/path_utils.hpp"
 #include "nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp"
 #include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/controller_exceptions.hpp"
 
 class RclCppFixture
 {
@@ -849,7 +849,7 @@ TEST_F(TransformGlobalPlanTest, all_poses_outside_of_costmap)
   ctrl_->setPlan(global_plan);
 
   // Transform the plan
-  EXPECT_THROW(ctrl_->transformGlobalPlanWrapper(robot_pose), nav2_core::PlannerException);
+  EXPECT_THROW(ctrl_->transformGlobalPlanWrapper(robot_pose), nav2_core::ControllerException);
 }
 
 // Should shortcut the circle if the circle is shorter than max_robot_pose_search_dist
diff --git a/nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp b/nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
index d3f96dd25ef..c3812ec1d3c 100644
--- a/nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
+++ b/nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
@@ -27,7 +27,7 @@
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
 #include "nav2_core/controller.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/controller_exceptions.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav2_costmap_2d/footprint_collision_checker.hpp"
 #include "angles/angles.h"
diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
index bc86900f640..7d32283db7c 100644
--- a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
+++ b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -14,7 +14,6 @@
 
 #include <algorithm>
 #include <string>
-#include <limits>
 #include <memory>
 #include <vector>
 #include <utility>
@@ -175,7 +174,7 @@ geometry_msgs::msg::TwistStamped RotationShimController::computeVelocityCommands
 geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathPt()
 {
   if (current_path_.poses.size() < 2) {
-    throw nav2_core::PlannerException(
+    throw nav2_core::ControllerException(
             "Path is too short to find a valid sampled path point for rotation.");
   }
 
@@ -193,7 +192,7 @@ geometry_msgs::msg::PoseStamped RotationShimController::getSampledPathPt()
     }
   }
 
-  throw nav2_core::PlannerException(
+  throw nav2_core::ControllerException(
           std::string(
             "Unable to find a sampling point at least %0.2f from the robot,"
             "passing off to primary controller plugin.", forward_sampling_distance_));
@@ -204,7 +203,7 @@ RotationShimController::transformPoseToBaseFrame(const geometry_msgs::msg::PoseS
 {
   geometry_msgs::msg::PoseStamped pt_base;
   if (!nav2_util::transformPoseInTargetFrame(pt, pt_base, *tf_, costmap_ros_->getBaseFrameID())) {
-    throw nav2_core::PlannerException("Failed to transform pose to base frame!");
+    throw nav2_core::ControllerTFError("Failed to transform pose to base frame!");
   }
   return pt_base.pose;
 }
@@ -259,11 +258,12 @@ void RotationShimController::isCollisionFree(
     if (footprint_cost == static_cast<double>(NO_INFORMATION) &&
       costmap_ros_->getLayeredCostmap()->isTrackingUnknown())
     {
-      throw std::runtime_error("RotationShimController detected a potential collision ahead!");
+      throw nav2_core::NoValidControl(
+              "RotationShimController detected a potential collision ahead!");
     }
 
     if (footprint_cost >= static_cast<double>(LETHAL_OBSTACLE)) {
-      throw std::runtime_error("RotationShimController detected collision ahead!");
+      throw nav2_core::NoValidControl("RotationShimController detected collision ahead!");
     }
   }
 }
diff --git a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
index 7b2ee31c0e9..01aeca975d5 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/a_star.hpp
@@ -25,7 +25,7 @@
 #include "Eigen/Core"
 
 #include "nav2_costmap_2d/costmap_2d.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/planner_exceptions.hpp"
 
 #include "nav2_smac_planner/thirdparty/robin_hood.h"
 #include "nav2_smac_planner/analytic_expansion.hpp"
diff --git a/nav2_smoother/src/nav2_smoother.cpp b/nav2_smoother/src/nav2_smoother.cpp
index 1fdf154d6fa..34f43431908 100644
--- a/nav2_smoother/src/nav2_smoother.cpp
+++ b/nav2_smoother/src/nav2_smoother.cpp
@@ -15,15 +15,13 @@
 // limitations under the License.
 
 #include <chrono>
-#include <limits>
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/planner_exceptions.hpp"
 #include "nav2_smoother/nav2_smoother.hpp"
-#include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav_2d_utils/conversions.hpp"
 #include "nav_2d_utils/tf_help.hpp"
diff --git a/nav2_smoother/test/test_smoother_server.cpp b/nav2_smoother/test/test_smoother_server.cpp
index 5bbbf399fa0..a84b1cdc323 100644
--- a/nav2_smoother/test/test_smoother_server.cpp
+++ b/nav2_smoother/test/test_smoother_server.cpp
@@ -16,9 +16,7 @@
 #include <memory>
 #include <chrono>
 #include <iostream>
-#include <future>
 #include <thread>
-#include <algorithm>
 #include <vector>
 
 #include "gtest/gtest.h"
@@ -26,10 +24,9 @@
 
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "nav2_core/smoother.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/planner_exceptions.hpp"
 #include "nav2_msgs/action/smooth_path.hpp"
 #include "nav2_smoother/nav2_smoother.hpp"
-#include "tf2_ros/create_timer_ros.h"
 
 using SmoothAction = nav2_msgs::action::SmoothPath;
 using ClientGoalHandle = rclcpp_action::ClientGoalHandle<SmoothAction>;
diff --git a/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp b/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp
index 7b124f9764c..bcbff2ae7c0 100644
--- a/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp
+++ b/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp
@@ -25,7 +25,7 @@
 #include <vector>
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_core/global_planner.hpp"
-#include "nav2_core/exceptions.hpp"
+#include "nav2_core/planner_exceptions.hpp"
 #include "nav_msgs/msg/path.hpp"
 #include "nav2_util/robot_utils.hpp"
 #include "nav2_util/lifecycle_node.hpp"