diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index de94e697e6e..2de0593b6f0 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -232,6 +232,9 @@ class BtActionNode : public BT::ActionNodeBase
     }
 
     setStatus(BT::NodeStatus::IDLE);
+    if (goal_handle_) {
+      goal_handle_.reset();
+    }
   }
 
 protected:
@@ -242,7 +245,7 @@ class BtActionNode : public BT::ActionNodeBase
   bool should_cancel_goal()
   {
     // Shut the node down if it is currently running
-    if (status() != BT::NodeStatus::RUNNING) {
+    if (status() != BT::NodeStatus::RUNNING || !goal_handle_) {
       return false;
     }
 
@@ -266,7 +269,7 @@ class BtActionNode : public BT::ActionNodeBase
         // TODO(#1652): a work around until rcl_action interface is updated
         // if goal ids are not matched, the older goal call this callback so ignore the result
         // if matched, it must be processed (including aborted)
-        if (this->goal_handle_->get_goal_id() == result.goal_id) {
+        if (!this->goal_handle_ || (this->goal_handle_->get_goal_id() == result.goal_id)) {
           goal_result_available_ = true;
           result_ = result;
         }