diff --git a/include/behaviortree_ros/bt_action_node.h b/include/behaviortree_ros/bt_action_node.h
index a8c21bb..fad73fc 100644
--- a/include/behaviortree_ros/bt_action_node.h
+++ b/include/behaviortree_ros/bt_action_node.h
@@ -81,7 +81,8 @@ class RosActionNode : public BT::ActionNodeBase
   enum FailureCause{
     MISSING_SERVER = 0,
     ABORTED_BY_SERVER = 1,
-    REJECTED_BY_SERVER = 2
+    REJECTED_BY_SERVER = 2,
+    OTHER
   };
 
   /// Called when a service call failed. Can be overriden by the user.
@@ -98,8 +99,15 @@ class RosActionNode : public BT::ActionNodeBase
   {
     if( status() == NodeStatus::RUNNING )
     {
-      action_client_->cancelGoal();
+      ros::spinOnce();
+      auto action_state = action_client_->getState();
+
+      if( !action_state.isDone() )
+      {
+        action_client_->cancelGoal();
+      }
     }
+
     setStatus(NodeStatus::IDLE);
   }
 
@@ -134,12 +142,12 @@ class RosActionNode : public BT::ActionNodeBase
     }
 
     // RUNNING
+    ros::spinOnce();
     auto action_state = action_client_->getState();
 
     // Please refer to these states
 
-    if( action_state == actionlib::SimpleClientGoalState::PENDING ||
-        action_state == actionlib::SimpleClientGoalState::ACTIVE )
+    if( !action_state.isDone() )
     {
       return NodeStatus::RUNNING;
     }
@@ -158,8 +166,11 @@ class RosActionNode : public BT::ActionNodeBase
     else
     {
       // FIXME: is there any other valid state we should consider?
-      throw std::logic_error("Unexpected state in RosActionNode::tick()");
+      ROS_ERROR("Unexpected state in RosActionNode::tick(): %s", action_state.toString().c_str());
+      return onFailedRequest( OTHER );
     }
+    // this code is unreachable. Adding this just to avoid warnings
+    return status();
   }
 };
 
diff --git a/test/test_bt.cpp b/test/test_bt.cpp
index 960f68b..7b5070d 100644
--- a/test/test_bt.cpp
+++ b/test/test_bt.cpp
@@ -166,12 +166,12 @@ RosActionNode<behaviortree_ros::FibonacciAction>(handle, name, conf) {}
                         sum = "{add_two_result}" />
             <PrintValue message="{add_two_result}"/>
 
-            <RetryUntilSuccesful num_attempts="4">
+            <RetryUntilSuccessful num_attempts="4">
                 <Timeout msec="300">
                     <Fibonacci server_name="fibonacci" order="5"
                                result="{fibonacci_result}" />
                 </Timeout>
-            </RetryUntilSuccesful>
+            </RetryUntilSuccessful>
             <PrintValue message="{fibonacci_result}"/>
         </Sequence>
      </BehaviorTree>
diff --git a/test/test_server.cpp b/test/test_server.cpp
index 2a0d5af..226971a 100644
--- a/test/test_server.cpp
+++ b/test/test_server.cpp
@@ -2,6 +2,7 @@
 #include <actionlib/server/simple_action_server.h>
 #include <behaviortree_ros/AddTwoInts.h>
 #include <behaviortree_ros/FibonacciAction.h>
+#include <behaviortree_ros/bt_action_node.h>
 
 bool Add(behaviortree_ros::AddTwoInts::Request  &req,
          behaviortree_ros::AddTwoInts::Response &res)