diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 2a93fe0c71..964c4d269d 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -794,7 +794,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (code != rclcpp_action::ResultCode::SUCCEEDED)
     {
       RCLCPP_ERROR_STREAM(LOGGER, "MoveGroupInterface::plan() failed or timeout reached");
-      return false;
+      return res->error_code;
     }
 
     plan.trajectory_ = res->planned_trajectory;
@@ -873,7 +873,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (code != rclcpp_action::ResultCode::SUCCEEDED)
     {
       RCLCPP_ERROR_STREAM(LOGGER, "MoveGroupInterface::move() failed or timeout reached");
-      return false;
     }
     return res->error_code;
   }
@@ -941,7 +940,6 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     if (code != rclcpp_action::ResultCode::SUCCEEDED)
     {
       RCLCPP_ERROR_STREAM(LOGGER, "MoveGroupInterface::execute() failed or timeout reached");
-      return false;
     }
     return res->error_code;
   }