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If you look at the MoveIt code for when it uses -1 (PLANNING_FAILED) or -2 (INVALID_MOTION_PLAN), you can see that these values are returned when the motion planner simply didn't find a solution; motion planning is a difficult problem and sometimes the planner won't find a valid solution. Knowing the "exact failure reason" might not be possible in these cases. Generally, MoveIt! will return a more specific error code if one occurs, so if you don't receive a more specific code, I think it's safe to say that those cases aren't true (i.e., that your start and goal are not in collision, etc).