Moving the conversation here to discuss the possibility of adding error codes for NavigateToPose/NavigateThroughPoses actions in a similar way as the other servers (planner, controller, etc.)

I'm thinking of a use case where you call the NavigateToPose action from a high-level system, and I want to know why the robot can't reach the goal from the action client itself. It would be nice to add or populate some error codes from the "subservers" like tf_error, timeout, invalid path, etc.