diff --git a/visualization/visualization_tools/include/moveit/visualization_tools/display_solution.h b/visualization/visualization_tools/include/moveit/visualization_tools/display_solution.h
index 7f8cd2980..f4f9fc29d 100644
--- a/visualization/visualization_tools/include/moveit/visualization_tools/display_solution.h
+++ b/visualization/visualization_tools/include/moveit/visualization_tools/display_solution.h
@@ -37,6 +37,7 @@
 #pragma once
 
 #include <moveit_task_constructor_msgs/msg/solution.hpp>
+#include <moveit_task_constructor_msgs/msg/trajectory_execution_info.hpp>
 #include <moveit/macros/class_forward.hpp>
 
 namespace moveit {
@@ -82,6 +83,8 @@ class DisplaySolution
 		std::string comment_;
 		/// id of creating stage
 		uint32_t creator_id_;
+		/// trajectory execution info (controller_names, etc.)
+		moveit_task_constructor_msgs::msg::TrajectoryExecutionInfo execution_info_;
 		/// rviz markers
 		MarkerVisualizationPtr markers_;
 	};
diff --git a/visualization/visualization_tools/src/display_solution.cpp b/visualization/visualization_tools/src/display_solution.cpp
index b9f2994f5..6c639faee 100644
--- a/visualization/visualization_tools/src/display_solution.cpp
+++ b/visualization/visualization_tools/src/display_solution.cpp
@@ -112,6 +112,7 @@ void DisplaySolution::setFromMessage(const planning_scene::PlanningScenePtr& sta
 		                        sub.trajectory.multi_dof_joint_trajectory.joint_names.end());
 		data_[i].comment_ = sub.info.comment;
 		data_[i].creator_id_ = sub.info.stage_id;
+		data_[i].execution_info_ = sub.execution_info;
 		steps_ += data_[i].trajectory_->getWayPointCount();
 
 		ref_scene->setPlanningSceneDiffMsg(sub.scene_diff);
@@ -133,6 +134,7 @@ void DisplaySolution::fillMessage(moveit_task_constructor_msgs::msg::Solution& m
 	msg.sub_trajectory.resize(data_.size());
 	auto traj_it = msg.sub_trajectory.begin();
 	for (const auto& sub : data_) {
+		traj_it->execution_info = sub.execution_info_;
 		sub.scene_->getPlanningSceneDiffMsg(traj_it->scene_diff);
 		sub.trajectory_->getRobotTrajectoryMsg(traj_it->trajectory, sub.joints_);
 		++traj_it;