diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
index e12f62a..70ff72c 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -386,7 +386,7 @@ template<class T> inline
         future_goal_handle_ = {};
 
         if (!goal_handle_) {
-          throw std::runtime_error("Goal was rejected by the action server");
+          return CheckStatus( onFailure( GOAL_REJECTED_BY_SERVER ) );
         }
       }
     }