diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 98a6eda8629..e3c32530f4c 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -511,6 +511,7 @@ void ControllerServer::computeControl()
           get_logger(),
           "Control loop missed its desired rate of %.4f Hz. Current loop rate is %.4f Hz.",
           controller_frequency_, 1 / cycle_duration.seconds());
+        loop_rate.reset();
       }
     }
   } catch (nav2_core::InvalidController & e) {
@@ -645,7 +646,7 @@ void ControllerServer::computeAndPublishVelocity()
     // other types will not be resolved with more attempts
   } catch (nav2_core::NoValidControl & e) {
     if (failure_tolerance_ > 0 || failure_tolerance_ == -1.0) {
-      RCLCPP_WARN(this->get_logger(), "%s", e.what());
+      RCLCPP_WARN(this->get_logger(), "Controller error, but still below failure tolerance. Error: %s", e.what());
       cmd_vel_2d.twist.angular.x = 0;
       cmd_vel_2d.twist.angular.y = 0;
       cmd_vel_2d.twist.angular.z = 0;
@@ -657,6 +658,7 @@ void ControllerServer::computeAndPublishVelocity()
       if ((now() - last_valid_cmd_time_).seconds() > failure_tolerance_ &&
         failure_tolerance_ != -1.0)
       {
+        RCLCPP_ERROR(this->get_logger(), "Controller error and failure tolerance exceeded. Error: %s", e.what());
         throw nav2_core::PatienceExceeded("Controller patience exceeded");
       }
     } else {
diff --git a/nav2_mppi_controller/src/path_handler.cpp b/nav2_mppi_controller/src/path_handler.cpp
index 55931f6bc62..966b2e7ff3e 100644
--- a/nav2_mppi_controller/src/path_handler.cpp
+++ b/nav2_mppi_controller/src/path_handler.cpp
@@ -128,7 +128,7 @@ nav_msgs::msg::Path PathHandler::transformPath(
   geometry_msgs::msg::PoseStamped global_pose =
     transformToGlobalPlanFrame(robot_pose);
   auto [transformed_plan, lower_bound] = getGlobalPlanConsideringBoundsInCostmapFrame(global_pose);
-
+  const auto prev_size = global_plan_up_to_inversion_.poses.size();
   prunePlan(global_plan_up_to_inversion_, lower_bound);
 
   if (enforce_path_inversion_ && inversion_locale_ != 0u) {
@@ -140,7 +140,10 @@ nav_msgs::msg::Path PathHandler::transformPath(
   }
 
   if (transformed_plan.poses.empty()) {
-    throw nav2_core::InvalidPath("Resulting plan has 0 poses in it.");
+    throw nav2_core::InvalidPath("Resulting plan has 0 poses in it, while global plan has "
+                                 + std::to_string(global_plan_.poses.size()) + " poses. lower_bound index: "
+                                 + std::to_string(lower_bound - global_plan_.poses.begin())
+                                 + ". prev_size: " + std::to_string(prev_size) + ".");
   }
 
   return transformed_plan;