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 a56ae31b8b6..c149de90d98 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
@@ -61,6 +61,7 @@ class BtActionNode : public BT::ActionNodeBase
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
     getInputOrBlackboard("server_timeout", server_timeout_);
+    getInputOrBlackboard("cancel_timeout", cancel_timeout_);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 
@@ -322,7 +323,7 @@ class BtActionNode : public BT::ActionNodeBase
           "Failed to cancel action server for %s", action_name_.c_str());
       }
 
-      if (callback_group_executor_.spin_until_future_complete(future_result, server_timeout_) !=
+      if (callback_group_executor_.spin_until_future_complete(future_result, cancel_timeout_) !=
         rclcpp::FutureReturnCode::SUCCESS)
       {
         RCLCPP_ERROR(
@@ -473,6 +474,9 @@ class BtActionNode : public BT::ActionNodeBase
   // new action goal is sent or canceled
   std::chrono::milliseconds server_timeout_;
 
+  // The timeout value when cancelling actions during halt
+  std::chrono::milliseconds cancel_timeout_;
+
   // The timeout value for BT loop execution
   std::chrono::milliseconds max_timeout_;
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
index e61dcefae8b..60771bb697e 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
@@ -255,6 +255,9 @@ class BtActionServer
   // Default timeout value while waiting for response from a server
   std::chrono::milliseconds default_server_timeout_;
 
+  // Default timeout value when cancelling actions during node halt
+  std::chrono::milliseconds default_cancel_timeout_;
+
   // The timeout value for waiting for a service to response
   std::chrono::milliseconds wait_for_service_timeout_;
 
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
index ac5fc20da41..23f77970500 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -61,6 +61,9 @@ BtActionServer<ActionT>::BtActionServer(
   if (!node->has_parameter("default_server_timeout")) {
     node->declare_parameter("default_server_timeout", 20);
   }
+  if (!node->has_parameter("default_cancel_timeout")) {
+    node->declare_parameter("default_cancel_timeout", 20);
+  }
   if (!node->has_parameter("action_server_result_timeout")) {
     node->declare_parameter("action_server_result_timeout", 900.0);
   }
@@ -164,6 +167,9 @@ bool BtActionServer<ActionT>::on_configure()
   int default_server_timeout;
   node->get_parameter("default_server_timeout", default_server_timeout);
   default_server_timeout_ = std::chrono::milliseconds(default_server_timeout);
+  int default_cancel_timeout;
+  node->get_parameter("default_cancel_timeout", default_cancel_timeout);
+  default_cancel_timeout_ = std::chrono::milliseconds(default_cancel_timeout);
   int wait_for_service_timeout;
   node->get_parameter("wait_for_service_timeout", wait_for_service_timeout);
   wait_for_service_timeout_ = std::chrono::milliseconds(wait_for_service_timeout);
@@ -181,6 +187,7 @@ bool BtActionServer<ActionT>::on_configure()
   // Put items on the blackboard
   blackboard_->set<rclcpp::Node::SharedPtr>("node", client_node_);  // NOLINT
   blackboard_->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);  // NOLINT
+  blackboard_->set<std::chrono::milliseconds>("cancel_timeout", default_cancel_timeout_);  // NOLINT
   blackboard_->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);  // NOLINT
   blackboard_->set<std::chrono::milliseconds>(
     "wait_for_service_timeout",
@@ -259,6 +266,7 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
       auto & blackboard = subtree->blackboard;
       blackboard->set("node", client_node_);
       blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
+      blackboard->set<std::chrono::milliseconds>("cancel_timeout", default_cancel_timeout_);
       blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
       blackboard->set<std::chrono::milliseconds>(
         "wait_for_service_timeout",
diff --git a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
index d22ed27c7a2..b90be0d8a9b 100644
--- a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
@@ -146,7 +146,9 @@ class FibonacciAction : public nav2_behavior_tree::BtActionNode<test_msgs::actio
 
   BT::NodeStatus on_cancelled() override
   {
-    config().blackboard->set("sequence", result_.result->sequence);
+    if (result_.result) {
+      config().blackboard->set("sequence", result_.result->sequence);
+    }
     config().blackboard->set("on_cancelled_triggered", true);
     return BT::NodeStatus::SUCCESS;
   }