diff --git a/nav2_util/include/nav2_util/simple_action_server.hpp b/nav2_util/include/nav2_util/simple_action_server.hpp
index 4ee84d3b1d2..391369e300b 100644
--- a/nav2_util/include/nav2_util/simple_action_server.hpp
+++ b/nav2_util/include/nav2_util/simple_action_server.hpp
@@ -290,8 +290,8 @@ class SimpleActionServer
       info_msg("Waiting for async process to finish.");
       if (steady_clock::now() - start_time >= server_timeout_) {
         terminate_all();
-        completion_callback_();
-        throw std::runtime_error("Action callback is still running and missed deadline to stop");
+        if (completion_callback_) {completion_callback_();}
+        error_msg("Action callback is still running and missed deadline to stop");
       }
     }