BehaviorTree
diff --git a/behaviortree_ros2/CMakeLists.txt b/behaviortree_ros2/CMakeLists.txt
@@ -62,4 +62,13 @@ install(
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+
+  ament_add_gtest(test_cancel_goal_race
+    test/test_cancel_goal_race.cpp)
+  target_link_libraries(test_cancel_goal_race
+    ${PROJECT_NAME})
+endif()
+
 ament_package()
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -23,6 +23,7 @@
 #include "behaviortree_cpp/action_node.h"
 #include "behaviortree_cpp/bt_factory.h"
 #include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp_action/exceptions.hpp"
 
 #include "behaviortree_ros2/ros_node_params.hpp"
 
@@ -558,21 +559,35 @@ inline void RosActionNode<T>::cancelGoal()
 
   auto& action_client = client_instance_->action_client;
 
-  auto future_result = action_client->async_get_result(goal_handle_);
-  auto future_cancel = action_client->async_cancel_goal(goal_handle_);
+  try
+  {
+    auto future_result = action_client->async_get_result(goal_handle_);
+    auto future_cancel = action_client->async_cancel_goal(goal_handle_);
 
-  constexpr auto SUCCESS = rclcpp::FutureReturnCode::SUCCESS;
+    constexpr auto SUCCESS = rclcpp::FutureReturnCode::SUCCESS;
 
-  if(executor.spin_until_future_complete(future_cancel, server_timeout_) != SUCCESS)
-  {
-    RCLCPP_ERROR(logger(), "Failed to cancel action server for [%s]",
-                 action_name_.c_str());
-  }
+    if(executor.spin_until_future_complete(future_cancel, server_timeout_) != SUCCESS)
+    {
+      RCLCPP_ERROR(logger(), "Failed to cancel action server for [%s]",
+                   action_name_.c_str());
+    }
 
-  if(executor.spin_until_future_complete(future_result, server_timeout_) != SUCCESS)
+    if(executor.spin_until_future_complete(future_result, server_timeout_) != SUCCESS)
+    {
+      RCLCPP_ERROR(logger(), "Failed to get result call failed :( for [%s]",
+                   action_name_.c_str());
+    }
+  }
+  catch(const rclcpp_action::exceptions::UnknownGoalHandleError& e)
   {
-    RCLCPP_ERROR(logger(), "Failed to get result call failed :( for [%s]",
-                 action_name_.c_str());
+    // The action server's terminal result arrived and the rclcpp_action
+    // client's result callback has already erased the goal from its
+    // internal registry before we reached async_get_result /
+    // async_cancel_goal. This is a benign race: the goal has already
+    // reached a terminal state, which is exactly what cancelGoal is
+    // trying to achieve.
+    RCLCPP_DEBUG(logger(), "Goal already terminal at cancel time for [%s]: %s",
+                 action_name_.c_str(), e.what());
   }
 }
 

diff --git a/behaviortree_ros2/package.xml b/behaviortree_ros2/package.xml
@@ -20,6 +20,8 @@
   <depend>generate_parameter_library</depend>
   <depend>btcpp_ros2_interfaces</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
+
 <export>
   <build_type>ament_cmake</build_type>
 </export>

diff --git a/behaviortree_ros2/test/test_cancel_goal_race.cpp b/behaviortree_ros2/test/test_cancel_goal_race.cpp
@@ -0,0 +1,221 @@
+// Copyright (c) 2026 Davide Faconti
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Regression test for the fast-cancel race between
+// `RosActionNode::cancelGoal()` and the `rclcpp_action` client's result
+// callback.
+//
+// Background: `cancelGoal()` calls `async_get_result()` and
+// `async_cancel_goal()` on the action client. If the server produces a
+// terminal result (including one accepted via cancel) before those calls
+// run on the BT thread, the client's result-callback has already erased
+// the goal from its internal registry and both calls throw
+// `rclcpp_action::exceptions::UnknownGoalHandleError`. The exception used
+// to propagate out of `halt()` and cause `TreeExecutionServer` to abort
+// the outer goal instead of canceling it.
+
+#include <atomic>
+#include <chrono>
+#include <memory>
+#include <string>
+#include <thread>
+
+#include <gtest/gtest.h>
+
+#include <behaviortree_cpp/bt_factory.h>
+#include <rclcpp/executors/multi_threaded_executor.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
+
+#include "behaviortree_ros2/bt_action_node.hpp"
+#include "btcpp_ros2_interfaces/action/sleep.hpp"
+
+using namespace std::chrono_literals;
+using Sleep = btcpp_ros2_interfaces::action::Sleep;
+
+namespace
+{
+
+class SleepLeaf : public BT::RosActionNode<Sleep>
+{
+public:
+  SleepLeaf(const std::string& name, const BT::NodeConfig& conf,
+            const BT::RosNodeParams& params)
+    : BT::RosActionNode<Sleep>(name, conf, params)
+  {}
+
+  bool setGoal(Goal& goal) override
+  {
+    goal.msec_timeout = 10000;  // deliberately long: server must not finish normally
+    return true;
+  }
+
+  BT::NodeStatus onResultReceived(const WrappedResult& /*wr*/) override
+  {
+    return BT::NodeStatus::SUCCESS;
+  }
+
+  BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> /*fb*/) override
+  {
+    return BT::NodeStatus::RUNNING;
+  }
+
+  BT::NodeStatus onFailure(BT::ActionNodeErrorCode /*err*/) override
+  {
+    return BT::NodeStatus::FAILURE;
+  }
+};
+
+class FastCancelRaceTest : public ::testing::Test
+{
+protected:
+  static void SetUpTestSuite()
+  {
+    if(!rclcpp::ok())
+    {
+      rclcpp::init(0, nullptr);
+    }
+  }
+  static void TearDownTestSuite()
+  {
+    if(rclcpp::ok())
+    {
+      rclcpp::shutdown();
+    }
+  }
+
+  void SetUp() override
+  {
+    bt_node_ = std::make_shared<rclcpp::Node>("bt_cancel_race_test");
+    server_node_ = std::make_shared<rclcpp::Node>("server_cancel_race_test");
+
+    using GoalHandle = rclcpp_action::ServerGoalHandle<Sleep>;
+
+    action_server_ = rclcpp_action::create_server<Sleep>(
+        server_node_, "/sleep",
+        [this](const rclcpp_action::GoalUUID&, std::shared_ptr<const Sleep::Goal>) {
+          goal_received_ = true;
+          return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+        },
+        [this](const std::shared_ptr<GoalHandle>) {
+          cancel_received_ = true;
+          return rclcpp_action::CancelResponse::ACCEPT;
+        },
+        [this](const std::shared_ptr<GoalHandle> goal_handle) {
+          // Detach a thread that waits up to ~50 ms for a cancel request,
+          // then completes the goal synchronously once it sees one. This
+          // is the shape of the race: the server's `canceled()` call on
+          // the client side fires the result callback, which erases the
+          // goal from `goal_handles_` on the rclcpp_action client
+          // registry. If `halt()` -> `cancelGoal()` reaches
+          // `async_get_result` / `async_cancel_goal` after that erase,
+          // both calls used to throw `UnknownGoalHandleError`.
+          std::thread([goal_handle, this]() {
+            for(int i = 0; i < 50 && !cancel_received_.load(); ++i)
+            {
+              std::this_thread::sleep_for(5ms);
+            }
+            auto result = std::make_shared<Sleep::Result>();
+            result->done = false;
+            if(cancel_received_.load())
+            {
+              goal_handle->canceled(result);
+            }
+            else
+            {
+              result->done = true;
+              goal_handle->succeed(result);
+            }
+          }).detach();
+        });
+
+    exec_ = std::make_unique<rclcpp::executors::MultiThreadedExecutor>(
+        rclcpp::ExecutorOptions(), 2, false, std::chrono::milliseconds(50));
+    exec_->add_node(bt_node_);
+    exec_->add_node(server_node_);
+    spinner_ = std::thread([this]() { exec_->spin(); });
+  }
+
+  void TearDown() override
+  {
+    if(exec_)
+    {
+      exec_->cancel();
+    }
+    if(spinner_.joinable())
+    {
+      spinner_.join();
+    }
+    exec_.reset();
+  }
+
+  BT::BehaviorTreeFactory makeFactory()
+  {
+    BT::RosNodeParams params;
+    params.nh = bt_node_;
+    params.server_timeout = 1000ms;
+    params.wait_for_server_timeout = 2000ms;
+    params.default_port_value = "/sleep";
+
+    BT::BehaviorTreeFactory factory;
+    factory.registerNodeType<SleepLeaf>("SleepLeaf", params);
+    return factory;
+  }
+
+  std::shared_ptr<rclcpp::Node> bt_node_;
+  std::shared_ptr<rclcpp::Node> server_node_;
+  rclcpp_action::Server<Sleep>::SharedPtr action_server_;
+  std::unique_ptr<rclcpp::executors::MultiThreadedExecutor> exec_;
+  std::thread spinner_;
+
+  std::atomic<bool> goal_received_{ false };
+  std::atomic<bool> cancel_received_{ false };
+};
+
+}  // namespace
+
+// Regression test for the UnknownGoalHandleError fast-cancel race.
+// `tree.haltTree()` must not throw when the server completes the cancel
+// handshake synchronously from its own thread while the BT thread is
+// still reaching the `cancelGoal()` body.
+TEST_F(FastCancelRaceTest, HaltDoesNotThrowOnFastCancel)
+{
+  auto factory = makeFactory();
+  auto tree = factory.createTreeFromText(R"(<root BTCPP_format="4">
+  <BehaviorTree ID="T">
+    <SleepLeaf/>
+  </BehaviorTree>
+</root>)");
+
+  // Tick until the server has accepted the goal. This ensures
+  // `goal_handle_` is populated inside the BT leaf before we halt.
+  tree.tickOnce();
+  for(int i = 0; i < 100 && !goal_received_.load(); ++i)
+  {
+    std::this_thread::sleep_for(5ms);
+    tree.tickOnce();
+  }
+  ASSERT_TRUE(goal_received_.load()) << "Server never received the goal; precondition "
+                                        "for the race "
+                                        "reproducer was not met.";
+
+  // The halt must not leak `UnknownGoalHandleError` (or any other
+  // exception). Before the fix, this throws with
+  // "Goal handle is not known to this client.".
+  EXPECT_NO_THROW(tree.haltTree());
+
+  // The server must have actually received the cancel request — otherwise
+  // we'd be testing the non-racing path.
+  EXPECT_TRUE(cancel_received_.load());
+}