diff --git a/test_communication/test/test_action_client.cpp b/test_communication/test/test_action_client.cpp
index c8c8f156..13d6394f 100644
--- a/test_communication/test/test_action_client.cpp
+++ b/test_communication/test/test_action_client.cpp
@@ -75,8 +75,10 @@ send_goals(
       };
 
     // send the request
+    auto send_goal_options = typename rclcpp_action::Client<ActionT>::SendGoalOptions();
+    send_goal_options.feedback_callback = feedback_callback;
     auto goal_handle_future =
-      action_client->async_send_goal(goal_tests[test_index].goal, feedback_callback);
+      action_client->async_send_goal(goal_tests[test_index].goal, send_goal_options);
 
     using rclcpp::executor::FutureReturnCode;
     // wait for the sent goal to be accepted
@@ -87,7 +89,7 @@ send_goals(
     }
 
     // wait for the result (feedback may be received in the meantime)
-    auto result_future = goal_handle_future.get()->async_result();
+    auto result_future = action_client->async_get_result(goal_handle_future.get());
     status = rclcpp::spin_until_future_complete(node, result_future, 1000s);
     if (status != FutureReturnCode::SUCCESS) {
       RCLCPP_ERROR(logger, "failed to receive a goal result in time");