diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
index 05c664d..5970ead 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -422,6 +422,7 @@ inline NodeStatus RosActionNode<T>::tick()
           if(!goal_handle_)
           {
             RCLCPP_ERROR(logger(), "Goal was rejected by server");
+            return onFailure(GOAL_REJECTED_BY_SERVER);
           }
           else
           {