diff --git a/src/plugins/ros2/navigator_thread.cpp b/src/plugins/ros2/navigator_thread.cpp
index 2f6a975969..3f2df5ede6 100644
--- a/src/plugins/ros2/navigator_thread.cpp
+++ b/src/plugins/ros2/navigator_thread.cpp
@@ -199,8 +199,6 @@ ROS2NavigatorThread::send_goal()
 
 		  case rclcpp_action::ResultCode::ABORTED: {
 			  nav_if_->set_final(true);
-			  nav_if_->set_error_code(NavigatorInterface::ERROR_PATH_GEN_FAIL);
-			  nav_if_->write();
 			  std::stringstream ss;
 			  for (std::size_t i = 0; i < 16; i++) {
 				  if (i != 0) {
@@ -211,7 +209,12 @@ ROS2NavigatorThread::send_goal()
 			  logger->log_warn(name(), ("Aborted goal with id: " + ss.str()).c_str());
 
 			  auto val = result.result;
+			  logger->log_error(name(), "Navigation Goal failed with error_code: %d", val->error_code);
+
+			  uint32_t error_code = (uint32_t)val->error_code;
 
+			  nav_if_->set_error_code(error_code);
+			  nav_if_->write();
 		  } break;
 
 		  case rclcpp_action::ResultCode::CANCELED: {