diff --git a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
index ef119bb4..0fc963ae 100644
--- a/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
+++ b/rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py
@@ -103,10 +103,6 @@ def done_callback(fut: Future[ROSActionResultT]) -> None:
             if fut.cancelled():
                 goal.abort()
                 self.protocol.log("info", f"Aborted goal {goal_id}")
-                # Send an empty result to avoid stack traces
-                fut.set_result(
-                    cast("ROSActionResultT", get_action_class(self.action_type).Result())
-                )
             else:
                 if goal_id not in self.goal_statuses:
                     goal.abort()
@@ -138,7 +134,9 @@ def done_callback(fut: Future[ROSActionResultT]) -> None:
 
         try:
             result = await future
-            assert result is not None, "Action result cannot be None"
+            if result is None:
+                # Return empty result when cancelled/aborted
+                return cast("ROSActionResultT", get_action_class(self.action_type).Result())
             return result
         finally:
             del self.goal_futures[goal_id]
diff --git a/rosbridge_library/src/rosbridge_library/internal/actions.py b/rosbridge_library/src/rosbridge_library/internal/actions.py
index ce3a133a..d45e7bd8 100644
--- a/rosbridge_library/src/rosbridge_library/internal/actions.py
+++ b/rosbridge_library/src/rosbridge_library/internal/actions.py
@@ -146,7 +146,7 @@ def args_to_action_goal_instance(inst: ROSMessage, args: list | dict[str, Any] |
 class SendGoal(Generic[ROSActionGoalT, ROSActionResultT, ROSActionFeedbackT]):
     """Helper class to send action goals."""
 
-    result: GetResultServiceResponse[ROSActionResultT] | None = None
+    result: GetResultServiceResponse[ROSActionResultT] | Exception | None = None
 
     def __init__(self, server_timeout_time: float = 1.0, sleep_time: float = 0.001) -> None:
         self.server_timeout_time = server_timeout_time
@@ -166,7 +166,8 @@ def goal_response_cb(
         assert self.goal_handle is not None
         if not self.goal_handle.accepted:
             msg = "Action goal was rejected"
-            raise Exception(msg)
+            self.result = Exception(msg)
+            return
         result_future: Future[GetResultServiceResponse[ROSActionResultT]] = (
             self.goal_handle.get_result_async()
         )
@@ -195,7 +196,9 @@ def send_goal(
         client: ActionClient[ROSActionGoalT, ROSActionResultT, ROSActionFeedbackT] = ActionClient(
             node_handle, action_class, action_name
         )
-        client.wait_for_server(timeout_sec=self.server_timeout_time)
+        if not client.wait_for_server(timeout_sec=self.server_timeout_time):
+            msg = "No action server available"
+            raise Exception(msg)
         send_goal_future = client.send_goal_async(inst, feedback_callback=feedback_cb)  # type: ignore[arg-type]
         send_goal_future.add_done_callback(self.goal_response_cb)
 
@@ -203,6 +206,10 @@ def send_goal(
             time.sleep(self.sleep_time)
 
         client.destroy()
+
+        if isinstance(self.result, Exception):
+            raise self.result
+
         if self.result is not None:
             # Turn the response into JSON and pass to the callback
             json_response = extract_values(self.result)