diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
index 4a6c0fd7f..1478a3b24 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
@@ -80,7 +80,9 @@ async def execute_callback(self, goal: Any) -> Any:
         def done_callback(fut: rclpy.task.Future()) -> None:
             if fut.cancelled():
                 goal.abort()
-                fut.set_exception(RuntimeError(f"Aborted goal {goal_id}"))
+                self.protocol.log("info", f"Aborted goal {goal_id}")
+                # Send an empty result to avoid stack traces
+                fut.set_result(get_action_class(self.action_type).Result())
             else:
                 goal.succeed()