diff --git a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
index 1b8f6517f66..e24b3b251e1 100644
--- a/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_spin_action.cpp
@@ -109,7 +109,7 @@ TEST_F(SpinActionTestFixture, test_ports)
     R"(
       <root main_tree_to_execute = "MainTree" >
         <BehaviorTree ID="MainTree">
-            <Spin />
+            <Spin server_name="spin"/>
         </BehaviorTree>
       </root>)";
 
diff --git a/nav2_core/include/nav2_core/progress_checker.hpp b/nav2_core/include/nav2_core/progress_checker.hpp
index 041ae88fbdb..2dd9c5bef89 100644
--- a/nav2_core/include/nav2_core/progress_checker.hpp
+++ b/nav2_core/include/nav2_core/progress_checker.hpp
@@ -55,7 +55,7 @@ class ProgressChecker
   /**
    * @brief Reset class state upon calling
    */
-  virtual void reset() {}
+  virtual void reset() = 0;
 };
 }  // namespace nav2_core
 
diff --git a/nav2_util/CMakeLists.txt b/nav2_util/CMakeLists.txt
index 21be6cdfa95..930034f09cf 100644
--- a/nav2_util/CMakeLists.txt
+++ b/nav2_util/CMakeLists.txt
@@ -17,6 +17,7 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(bondcpp REQUIRED)
 find_package(bond REQUIRED)
+find_package(action_msgs REQUIRED)
 
 set(dependencies
     nav2_msgs
@@ -32,6 +33,7 @@ set(dependencies
     rclcpp_lifecycle
     bondcpp
     bond
+    action_msgs
 )
 
 nav2_package()
diff --git a/nav2_util/package.xml b/nav2_util/package.xml
index 87f9086b9c2..8d5ccf865c6 100644
--- a/nav2_util/package.xml
+++ b/nav2_util/package.xml
@@ -28,6 +28,7 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>launch</depend>
   <depend>launch_testing_ament_cmake</depend>
+  <depend>action_msgs</depend>
 
   <exec_depend>libboost-program-options</exec_depend>
 
@@ -37,6 +38,7 @@
   <test_depend>launch</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>std_srvs</test_depend>
+  <test_depend>action_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/nav2_util/test/test_actions.cpp b/nav2_util/test/test_actions.cpp
index b999a28b7c9..35043d5df2f 100644
--- a/nav2_util/test/test_actions.cpp
+++ b/nav2_util/test/test_actions.cpp
@@ -516,6 +516,31 @@ TEST_F(ActionTest, test_handle_goal_deactivated)
   SUCCEED();
 }
 
+TEST_F(ActionTest, test_handle_cancel)
+{
+  auto goal = Fibonacci::Goal();
+  goal.order = 14000000;
+
+  // Send the goal
+  auto future_goal_handle = node_->action_client_->async_send_goal(goal);
+  EXPECT_EQ(
+    rclcpp::spin_until_future_complete(
+      node_,
+      future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);
+
+  // Cancel the goal
+  auto cancel_response = node_->action_client_->async_cancel_goal(future_goal_handle.get());
+  EXPECT_EQ(
+    rclcpp::spin_until_future_complete(
+      node_,
+      cancel_response), rclcpp::FutureReturnCode::SUCCESS);
+
+  // Check cancelled
+  EXPECT_EQ(future_goal_handle.get()->get_status(), rclcpp_action::GoalStatus::STATUS_CANCELING);
+
+  SUCCEED();
+}
+
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);