diff --git a/nav2_msgs/action/Wait.action b/nav2_msgs/action/Wait.action
index e7a5dc261a4..1496e3371ed 100644
--- a/nav2_msgs/action/Wait.action
+++ b/nav2_msgs/action/Wait.action
@@ -5,6 +5,9 @@ builtin_interfaces/Duration time
 builtin_interfaces/Duration total_elapsed_time
 uint16 error_code
 string error_msg
+
+uint16 NONE=0
+uint16 UNKNOWN=740
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
diff --git a/nav2_system_tests/src/behavior_tree/dummy_action_server.hpp b/nav2_system_tests/src/behavior_tree/dummy_action_server.hpp
index c16bfebff3b..3e5491523ee 100644
--- a/nav2_system_tests/src/behavior_tree/dummy_action_server.hpp
+++ b/nav2_system_tests/src/behavior_tree/dummy_action_server.hpp
@@ -84,12 +84,16 @@ class DummyActionServer
     return std::make_shared<typename ActionT::Result>();
   }
 
-  virtual void updateResultForFailure(std::shared_ptr<typename ActionT::Result> &)
+  virtual void updateResultForFailure(std::shared_ptr<typename ActionT::Result> &result)
   {
+    result->error_code = ActionT::Result::UNKNOWN;
+    result->error_msg = "Unknown Failure";
   }
 
-  virtual void updateResultForSuccess(std::shared_ptr<typename ActionT::Result> &)
+  virtual void updateResultForSuccess(std::shared_ptr<typename ActionT::Result> &result)
   {
+    result->error_code = ActionT::Result::NONE;
+    result->error_msg = "";
   }
 
   virtual rclcpp_action::GoalResponse handle_goal(