diff --git a/nexus_capabilities/CMakeLists.txt b/nexus_capabilities/CMakeLists.txt
index 6f9d4a3..c9e590e 100644
--- a/nexus_capabilities/CMakeLists.txt
+++ b/nexus_capabilities/CMakeLists.txt
@@ -56,6 +56,7 @@ include(GNUInstallDirs)
 # nexus_capabilities library
 
 add_library(${PROJECT_NAME} SHARED
+  src/context.cpp
   src/conversions/pose_stamped.cpp
 )
 
diff --git a/nexus_capabilities/include/nexus_capabilities/capability.hpp b/nexus_capabilities/include/nexus_capabilities/capability.hpp
index 830febf..5469dc4 100644
--- a/nexus_capabilities/include/nexus_capabilities/capability.hpp
+++ b/nexus_capabilities/include/nexus_capabilities/capability.hpp
@@ -22,6 +22,7 @@
 #include "task.hpp"
 
 #include <nexus_common/bt_store.hpp>
+#include <nexus_common/error.hpp>
 
 #include <behaviortree_cpp_v3/bt_factory.h>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
@@ -54,7 +55,7 @@ class Capability
    * @param bt_factory Must be valid for the lifetime of the capability.
    * @throws StateTransitionError if transition fails.
    */
-  virtual void configure(
+  [[nodiscard]] virtual common::Result<void> configure(
     rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     std::shared_ptr<const ContextManager> ctx_mgr,
     BT::BehaviorTreeFactory& bt_factory) = 0;
diff --git a/nexus_capabilities/include/nexus_capabilities/context.hpp b/nexus_capabilities/include/nexus_capabilities/context.hpp
index 75d5cfa..a8c1011 100644
--- a/nexus_capabilities/include/nexus_capabilities/context.hpp
+++ b/nexus_capabilities/include/nexus_capabilities/context.hpp
@@ -20,6 +20,11 @@
 
 #include "task.hpp"
 
+#include <nexus_common/error.hpp>
+#include <nexus_endpoints.hpp>
+#include <nexus_orchestrator_msgs/msg/task_progress.hpp>
+
+#include <rclcpp_action/rclcpp_action.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 
 #include <memory>
@@ -32,6 +37,9 @@ namespace nexus {
 
 class Context
 {
+public: using GoalHandlePtr =
+    std::shared_ptr<rclcpp_action::ServerGoalHandle<endpoints::WorkcellRequestAction::ActionType>>;
+
   /**
    * There are several choices we can use here, each having their own pros and cons.
    *
@@ -65,8 +73,15 @@ public: Task task;
 public: std::vector<std::string> errors;
 public: std::unordered_set<std::string> signals;
 
-public: Context(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node)
-  : node(std::move(node)) {}
+public: Context(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node,
+    GoalHandlePtr goal_handle)
+  : node(std::move(node)), _goal_handle(std::move(goal_handle)) {}
+
+public: common::Result<void> publish_feedback(
+    const nexus_orchestrator_msgs::msg::TaskProgress& progress,
+    const std::string& msg = "");
+
+private: GoalHandlePtr _goal_handle;
 };
 
 } // namespace nexus
diff --git a/nexus_capabilities/include/nexus_capabilities/exceptions.hpp b/nexus_capabilities/include/nexus_capabilities/exceptions.hpp
deleted file mode 100644
index 64100f6..0000000
--- a/nexus_capabilities/include/nexus_capabilities/exceptions.hpp
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * Copyright (C) 2022 Johnson & Johnson
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef NEXUS_CAPABILITIES__EXCEPTIONS_HPP
-#define NEXUS_CAPABILITIES__EXCEPTIONS_HPP
-
-#include <stdexcept>
-#include <string>
-
-namespace nexus {
-
-/**
- * Base class for all errors from capabilities.
- */
-class CapabilityError : public std::runtime_error
-{
-public: CapabilityError(const std::string& msg)
-  : std::runtime_error(msg) {}
-};
-
-}
-
-#endif // NEXUS_CAPABILITIES__EXCEPTIONS_HPP
diff --git a/nexus_capabilities/src/capabilities/detection_capability.cpp b/nexus_capabilities/src/capabilities/detection_capability.cpp
index c546411..05975f3 100644
--- a/nexus_capabilities/src/capabilities/detection_capability.cpp
+++ b/nexus_capabilities/src/capabilities/detection_capability.cpp
@@ -37,7 +37,7 @@ void DetectionCapability::declare_params(
 }
 
 //==============================================================================
-void DetectionCapability::configure(
+common::Result<void> DetectionCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   std::shared_ptr<const ContextManager> ctx_mgr,
   BT::BehaviorTreeFactory& bt_factory)
@@ -57,18 +57,11 @@ void DetectionCapability::configure(
 
   bt_factory.registerBuilder<DetectOffset>(
     "detection.DetectOffset",
-    [this, ctx_mgr, w_node = std::weak_ptr{node}](const std::string& name,
+    [this, ctx_mgr, node](const std::string& name,
     const BT::NodeConfiguration& config)
     {
-      auto node = w_node.lock();
-      if (!node)
-      {
-        std::cerr << "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!" << std::endl;
-        std::terminate();
-      }
-
       return std::make_unique<DetectOffset>(name, config,
-      node->get_logger(), ctx_mgr, [this, node](const std::string& detector)
+      node->get_logger(), ctx_mgr, [this](const std::string& detector)
       {
         return this->_clients.at(detector);
       });
@@ -76,16 +69,9 @@ void DetectionCapability::configure(
 
   bt_factory.registerBuilder<DetectAllItems>(
     "detection.DetectAllItems",
-    [this, ctx_mgr, w_node = std::weak_ptr{node}](const std::string& name,
+    [this, ctx_mgr, node](const std::string& name,
     const BT::NodeConfiguration& config)
     {
-      auto node = w_node.lock();
-      if (!node)
-      {
-        std::cerr << "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!" << std::endl;
-        std::terminate();
-      }
-
       return std::make_unique<DetectAllItems>(name, config, node, ctx_mgr,
       [this](const std::string& detector)
       {
@@ -106,6 +92,8 @@ void DetectionCapability::configure(
     {
       return std::make_unique<GetDetectionPose>(name, config, ctx_mgr);
     });
+
+  return common::Result<void>();
 }
 
 //==============================================================================
diff --git a/nexus_capabilities/src/capabilities/detection_capability.hpp b/nexus_capabilities/src/capabilities/detection_capability.hpp
index ced80a5..81c72c1 100644
--- a/nexus_capabilities/src/capabilities/detection_capability.hpp
+++ b/nexus_capabilities/src/capabilities/detection_capability.hpp
@@ -20,6 +20,7 @@
 
 #include <nexus_capabilities/capability.hpp>
 #include <nexus_capabilities/context_manager.hpp>
+#include <nexus_common/error.hpp>
 #include <nexus_endpoints.hpp>
 
 #include <behaviortree_cpp_v3/bt_factory.h>
@@ -45,7 +46,7 @@ public: void declare_params(rclcpp_lifecycle::LifecycleNode& node) final;
   /**
    * @copydoc Capability::configure
    */
-public: void configure(
+public: common::Result<void> configure(
     rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     std::shared_ptr<const ContextManager> ctx_mgr,
     BT::BehaviorTreeFactory& bt_factory) final;
diff --git a/nexus_capabilities/src/capabilities/dispense_item_capability.cpp b/nexus_capabilities/src/capabilities/dispense_item_capability.cpp
index 1277d8c..9288d3c 100644
--- a/nexus_capabilities/src/capabilities/dispense_item_capability.cpp
+++ b/nexus_capabilities/src/capabilities/dispense_item_capability.cpp
@@ -19,8 +19,6 @@
 
 #include "dispense_item_task_data.hpp"
 
-#include <nexus_capabilities/exceptions.hpp>
-
 #include <yaml-cpp/exceptions.h>
 
 namespace nexus::capabilities {
@@ -47,7 +45,7 @@ void DispenseItemCapability::declare_params(
 }
 
 //==============================================================================
-void DispenseItemCapability::configure(
+common::Result<void> DispenseItemCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   std::shared_ptr<const ContextManager> /* ctx_mgr */,
   BT::BehaviorTreeFactory& bt_factory)
@@ -76,6 +74,8 @@ void DispenseItemCapability::configure(
       return std::make_unique<DispenseItem>(name, config,
       node, this->_dispensers, std::chrono::milliseconds{dispenser_timeout});
     });
+
+  return common::Result<void>();
 }
 
 }
diff --git a/nexus_capabilities/src/capabilities/dispense_item_capability.hpp b/nexus_capabilities/src/capabilities/dispense_item_capability.hpp
index 15b5923..b01faaf 100644
--- a/nexus_capabilities/src/capabilities/dispense_item_capability.hpp
+++ b/nexus_capabilities/src/capabilities/dispense_item_capability.hpp
@@ -22,6 +22,7 @@
 
 #include <nexus_capabilities/capability.hpp>
 #include <nexus_capabilities/context_manager.hpp>
+#include <nexus_common/error.hpp>
 #include <nexus_endpoints.hpp>
 
 #include <behaviortree_cpp_v3/bt_factory.h>
@@ -48,7 +49,8 @@ public: void declare_params(rclcpp_lifecycle::LifecycleNode& node) final;
   /**
    * @copydoc Capability::configure
    */
-public: void configure(rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+public: common::Result<void> configure(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     std::shared_ptr<const ContextManager> ctx_mgr,
     BT::BehaviorTreeFactory& bt_factory) final;
 
diff --git a/nexus_capabilities/src/capabilities/execute_trajectory.hpp b/nexus_capabilities/src/capabilities/execute_trajectory.hpp
index 768717e..3210187 100644
--- a/nexus_capabilities/src/capabilities/execute_trajectory.hpp
+++ b/nexus_capabilities/src/capabilities/execute_trajectory.hpp
@@ -35,7 +35,7 @@ namespace nexus::capabilities {
  *   trajectory |moveit_msgs::msg::RobotTrajectory| The trajectory to execute.
  */
 class ExecuteTrajectory : public common
-  ::ActionClientBtNode<rclcpp_lifecycle::LifecycleNode*,
+  ::ActionClientBtNode<rclcpp_lifecycle::LifecycleNode::SharedPtr,
     endpoints::ControllerRobotTrajectoryAction::ActionType>
 {
 public: using ActionType =
@@ -54,9 +54,10 @@ public: static BT::PortsList providedPorts();
    */
 public: inline ExecuteTrajectory(const std::string& name,
     const BT::NodeConfiguration& config,
-    rclcpp_lifecycle::LifecycleNode& node)
-  : common::ActionClientBtNode<rclcpp_lifecycle::LifecycleNode*, ActionType>(
-      name, config, &node) {}
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node)
+  : common::ActionClientBtNode<rclcpp_lifecycle::LifecycleNode::SharedPtr,
+      ActionType>(
+      name, config, std::move(node)) {}
 
 protected: std::string get_action_name() const
   override
diff --git a/nexus_capabilities/src/capabilities/execute_trajectory_capability.cpp b/nexus_capabilities/src/capabilities/execute_trajectory_capability.cpp
index 8d66b25..d04e0ec 100644
--- a/nexus_capabilities/src/capabilities/execute_trajectory_capability.cpp
+++ b/nexus_capabilities/src/capabilities/execute_trajectory_capability.cpp
@@ -25,25 +25,19 @@
 
 namespace nexus::capabilities {
 
-void ExecuteTrajectoryCapability::configure(
+common::Result<void> ExecuteTrajectoryCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   std::shared_ptr<const ContextManager> /* ctx_mgr */,
   BT::BehaviorTreeFactory& bt_factory)
 {
   bt_factory.registerBuilder<ExecuteTrajectory>(
     "execute_trajectory.ExecuteTrajectory",
-    [w_node = std::weak_ptr{node}](const std::string& name,
+    [node](const std::string& name,
     const BT::NodeConfiguration& config)
     {
-      auto node = w_node.lock();
-      if (!node)
-      {
-        std::cerr << "FATAL ERROR!!! NODE IS DESTROYED WHILE THERE ARE STILL REFERENCES!!!" << std::endl;
-        std::terminate();
-      }
-
-      return std::make_unique<ExecuteTrajectory>(name, config, *node);
+      return std::make_unique<ExecuteTrajectory>(name, config, node);
     });
+  return common::Result<void>();
 }
 
 }
diff --git a/nexus_capabilities/src/capabilities/execute_trajectory_capability.hpp b/nexus_capabilities/src/capabilities/execute_trajectory_capability.hpp
index d544f5e..d818712 100644
--- a/nexus_capabilities/src/capabilities/execute_trajectory_capability.hpp
+++ b/nexus_capabilities/src/capabilities/execute_trajectory_capability.hpp
@@ -22,6 +22,7 @@
 
 #include <nexus_capabilities/capability.hpp>
 #include <nexus_capabilities/context_manager.hpp>
+#include <nexus_common/error.hpp>
 #include <nexus_endpoints.hpp>
 
 #include <behaviortree_cpp_v3/bt_factory.h>
@@ -48,7 +49,8 @@ public: void declare_params(rclcpp_lifecycle::LifecycleNode& /* node */) final
   /**
    * @copydoc Capability::configure
    */
-public: void configure(rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+public: common::Result<void> configure(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     std::shared_ptr<const ContextManager> ctx_mgr,
     BT::BehaviorTreeFactory& bt_factory) final;
 
diff --git a/nexus_capabilities/src/capabilities/gripper_capability.cpp b/nexus_capabilities/src/capabilities/gripper_capability.cpp
index b4ae30d..3a55abf 100644
--- a/nexus_capabilities/src/capabilities/gripper_capability.cpp
+++ b/nexus_capabilities/src/capabilities/gripper_capability.cpp
@@ -31,7 +31,7 @@ void GripperCapability::declare_params(rclcpp_lifecycle::LifecycleNode& node)
   node.declare_parameter("grippers", std::vector<std::string>{}, desc);
 }
 
-void GripperCapability::configure(
+common::Result<void> GripperCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   std::shared_ptr<const ContextManager> /* ctx_mgr */,
   BT::BehaviorTreeFactory& bt_factory)
@@ -48,6 +48,8 @@ void GripperCapability::configure(
     {
       return std::make_unique<GripperControl>(name, config, *node);
     });
+
+  return common::Result<void>();
 }
 
 }
diff --git a/nexus_capabilities/src/capabilities/gripper_capability.hpp b/nexus_capabilities/src/capabilities/gripper_capability.hpp
index 82e541a..09b901e 100644
--- a/nexus_capabilities/src/capabilities/gripper_capability.hpp
+++ b/nexus_capabilities/src/capabilities/gripper_capability.hpp
@@ -20,6 +20,7 @@
 
 #include <nexus_capabilities/capability.hpp>
 #include <nexus_capabilities/context_manager.hpp>
+#include <nexus_common/error.hpp>
 #include <nexus_endpoints.hpp>
 
 #include <behaviortree_cpp_v3/bt_factory.h>
@@ -45,7 +46,7 @@ public: void declare_params(rclcpp_lifecycle::LifecycleNode& node) final;
   /**
    * @copydoc Capability::configure
    */
-public: void configure(rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+public: common::Result<void> configure(rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     std::shared_ptr<const ContextManager> ctx_mgr,
     BT::BehaviorTreeFactory& bt_factory) final;
 
diff --git a/nexus_capabilities/src/capabilities/plan_motion_capability.cpp b/nexus_capabilities/src/capabilities/plan_motion_capability.cpp
index 7745047..da3e1e1 100644
--- a/nexus_capabilities/src/capabilities/plan_motion_capability.cpp
+++ b/nexus_capabilities/src/capabilities/plan_motion_capability.cpp
@@ -19,15 +19,13 @@
 
 #include "plan_motion.hpp"
 
-#include <nexus_capabilities/exceptions.hpp>
-
 #include <tf2_ros/transform_broadcaster.h>
 
 #include <memory>
 
 namespace nexus::capabilities {
 
-void PlanMotionCapability::configure(
+common::Result<void> PlanMotionCapability::configure(
   rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   std::shared_ptr<const ContextManager> /* ctx_mgr */,
   BT::BehaviorTreeFactory& bt_factory)
@@ -43,6 +41,7 @@ void PlanMotionCapability::configure(
       return std::make_unique<PlanMotion>(name, config, *node, this->_client,
       tf_broadcaster);
     });
+  return common::Result<void>();
 }
 
 }
diff --git a/nexus_capabilities/src/capabilities/plan_motion_capability.hpp b/nexus_capabilities/src/capabilities/plan_motion_capability.hpp
index 2622965..f2c7a2b 100644
--- a/nexus_capabilities/src/capabilities/plan_motion_capability.hpp
+++ b/nexus_capabilities/src/capabilities/plan_motion_capability.hpp
@@ -20,6 +20,7 @@
 
 #include <nexus_capabilities/capability.hpp>
 #include <nexus_capabilities/context_manager.hpp>
+#include <nexus_common/error.hpp>
 #include <nexus_endpoints.hpp>
 
 #include <behaviortree_cpp_v3/bt_factory.h>
@@ -45,7 +46,8 @@ public: void declare_params(rclcpp_lifecycle::LifecycleNode& /* node */) final
   /**
    * @copydoc Capability::configure
    */
-public: void configure(rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+public: common::Result<void> configure(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     std::shared_ptr<const ContextManager> ctx_mgr,
     BT::BehaviorTreeFactory& bt_factory) final;
 
diff --git a/nexus_capabilities/src/context.cpp b/nexus_capabilities/src/context.cpp
new file mode 100644
index 0000000..d2d5f36
--- /dev/null
+++ b/nexus_capabilities/src/context.cpp
@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2023 Johnson & Johnson
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include "nexus_capabilities/context.hpp"
+
+#include <exception>
+
+namespace nexus {
+
+common::Result<void> Context::publish_feedback(
+  const nexus_orchestrator_msgs::msg::TaskProgress& progress,
+  const std::string& msg)
+{
+  endpoints::WorkcellRequestAction::ActionType::Feedback::SharedPtr feedback_msg;
+  feedback_msg->state.task_id = this->task.id;
+  feedback_msg->state.workcell_id = this->node->get_name();
+  feedback_msg->state.status =
+    nexus_orchestrator_msgs::msg::TaskState::STATUS_RUNNING;
+  feedback_msg->state.progress = progress;
+  feedback_msg->state.message = msg;
+  try
+  {
+    this->_goal_handle->publish_feedback(std::move(feedback_msg));
+    return common::Result<void>();
+  }
+  catch (const std::runtime_error& e)
+  {
+    return e;
+  }
+}
+
+}
diff --git a/nexus_workcell_orchestrator/src/job_manager_test.cpp b/nexus_workcell_orchestrator/src/job_manager_test.cpp
index 0cf8bd9..04179a1 100644
--- a/nexus_workcell_orchestrator/src/job_manager_test.cpp
+++ b/nexus_workcell_orchestrator/src/job_manager_test.cpp
@@ -109,7 +109,7 @@ TEST_CASE("JobManager") {
     SECTION("can queue an assigned task") {
       handle_accepted = [&](const JobManager::GoalHandlePtr& goal_handle)
         {
-          auto ctx = std::make_shared<Context>(fixture.node);
+          auto ctx = std::make_shared<Context>(fixture.node, goal_handle);
           CHECK(job_mgr.queue_task(goal_handle, ctx,
             bt_factory.createTreeFromText(bt)).value() == job);
           CHECK(job->bt.has_value());
@@ -148,7 +148,7 @@ TEST_CASE("JobManager") {
     size_t queued = 0;
     handle_accepted = [&](const JobManager::GoalHandlePtr& goal_handle)
       {
-        auto ctx = std::make_shared<Context>(fixture.node);
+        auto ctx = std::make_shared<Context>(fixture.node, goal_handle);
         REQUIRE(job_mgr.queue_task(goal_handle, ctx,
           bt_factory.createTreeFromText(bt)).value());
         if (++queued == task_ids.size())
diff --git a/nexus_workcell_orchestrator/src/task_results_test.cpp b/nexus_workcell_orchestrator/src/task_results_test.cpp
index 21b2b37..51503a8 100644
--- a/nexus_workcell_orchestrator/src/task_results_test.cpp
+++ b/nexus_workcell_orchestrator/src/task_results_test.cpp
@@ -34,7 +34,7 @@ namespace nexus::workcell_orchestrator::test {
 TEST_CASE("get and set results") {
   auto fixture = common::test::RosFixture<rclcpp_lifecycle::LifecycleNode>{};
   auto ctx_mgr = std::make_shared<ContextManager>();
-  auto ctx = std::make_shared<Context>(fixture.node);
+  auto ctx = std::make_shared<Context>(fixture.node, nullptr);
   ctx_mgr->set_active_context(ctx);
   BT::BehaviorTreeFactory bt_factory;
 
diff --git a/nexus_workcell_orchestrator/src/workcell_orchestrator.cpp b/nexus_workcell_orchestrator/src/workcell_orchestrator.cpp
index 5a97ee4..f664ff2 100644
--- a/nexus_workcell_orchestrator/src/workcell_orchestrator.cpp
+++ b/nexus_workcell_orchestrator/src/workcell_orchestrator.cpp
@@ -317,7 +317,7 @@ auto WorkcellOrchestrator::_configure(
         return;
       }
 
-      auto ctx = std::make_shared<Context>(this->shared_from_this());
+      auto ctx = std::make_shared<Context>(this->shared_from_this(), goal_handle);
       auto task_result =
       this->_task_parser.parse_task(goal_handle->get_goal()->task);
       if (task_result.error())
@@ -564,30 +564,28 @@ auto WorkcellOrchestrator::_configure(
   }
 
   // configure capabilities
-  try
+  RCLCPP_INFO(
+    this->get_logger(),
+    "Configuring generic capabilities..."
+  );
+  for (auto& [cap_id, cap] : this->_capabilities)
   {
     RCLCPP_INFO(
       this->get_logger(),
-      "Configuring generic capabilities..."
+      "configuring capability [%s]",
+      cap_id.c_str()
     );
-    for (auto& [cap_id, cap] : this->_capabilities)
+    const auto r = cap->configure(
+      this->shared_from_this(), this->_job_mgr->context_manager(),
+      *_bt_factory);
+    if (r.error())
     {
-      RCLCPP_INFO(
-        this->get_logger(),
-        "configuring capability [%s]",
-        cap_id.c_str()
-      );
-      cap->configure(
-        this->shared_from_this(), this->_job_mgr->context_manager(),
-        *_bt_factory);
+      RCLCPP_ERROR(
+        this->get_logger(), "Failed to configure capability (%s)",
+        r.error()->what());
+      return CallbackReturn::FAILURE;
     }
   }
-  catch (const CapabilityError& e)
-  {
-    RCLCPP_ERROR(
-      this->get_logger(), "Failed to configure capability (%s)", e.what());
-    return CallbackReturn::FAILURE;
-  }
 
   // Create map for remapping capabilities
   auto remap_caps = this->get_parameter("remap_task_types").as_string();