diff --git a/msg/MoveItErrorCodes.msg b/msg/MoveItErrorCodes.msg
index b769eee..2aff013 100644
--- a/msg/MoveItErrorCodes.msg
+++ b/msg/MoveItErrorCodes.msg
@@ -15,10 +15,13 @@ int32 PREEMPTED=-7
 # planning & kinematics request errors
 int32 START_STATE_IN_COLLISION=-10
 int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-11
+int32 START_STATE_INVALID=-26
 
 int32 GOAL_IN_COLLISION=-12
 int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-13
 int32 GOAL_CONSTRAINTS_VIOLATED=-14
+int32 GOAL_STATE_INVALID=-27
+int32 UNRECOGNIZED_GOAL_TYPE=-28
 
 int32 INVALID_GROUP_NAME=-15
 int32 INVALID_GOAL_CONSTRAINTS=-16
@@ -32,6 +35,8 @@ int32 COLLISION_CHECKING_UNAVAILABLE=-22
 int32 ROBOT_STATE_STALE=-23
 int32 SENSOR_INFO_STALE=-24
 int32 COMMUNICATION_FAILURE=-25
+int32 CRASH=-29
+int32 ABORT=-30
 
 # kinematics errors
 int32 NO_IK_SOLUTION=-31