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Answer as given in https://answers.ros.org/question/351997/moveit-task-constructor-custom-stages/ where the question got mixed up:
The error you refer to does not mean anything but that the custom function you passed in to execute between trajectory segments returned false. For MTC's default ExecuteTaskSolutionCapability, the function is set to try to apply the next expected planning scene (change) to the PlanningScene of move_group. That might fail for a variety of reasons, among them unexpected changes to the scene and an ill-formed planning scene message. You should be able to get more constructive feedback from the DEBUG loggers of the PlanningScene class.
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