diff --git a/actionlib/CMakeLists.txt b/actionlib/CMakeLists.txt
index 327beffd..ce583b80 100644
--- a/actionlib/CMakeLists.txt
+++ b/actionlib/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(actionlib)
 
 find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp std_msgs)
diff --git a/actionlib/include/actionlib/client/simple_action_client.h b/actionlib/include/actionlib/client/simple_action_client.h
index cb85154f..52637edb 100644
--- a/actionlib/include/actionlib/client/simple_action_client.h
+++ b/actionlib/include/actionlib/client/simple_action_client.h
@@ -535,15 +535,15 @@ void SimpleActionClient<ActionSpec>::handleTransition(GoalHandleT gh)
       switch (cur_simple_state_.state_) {
         case SimpleGoalState::PENDING:
         case SimpleGoalState::ACTIVE:
+          if (done_cb_) {
+            done_cb_(getState(), gh.getResult());
+          }
+
           {
             boost::mutex::scoped_lock lock(done_mutex_);
             setSimpleState(SimpleGoalState::DONE);
           }
 
-          if (done_cb_) {
-            done_cb_(getState(), gh.getResult());
-          }
-
           done_condition_.notify_all();
           break;
         case SimpleGoalState::DONE:
diff --git a/actionlib/test/CMakeLists.txt b/actionlib/test/CMakeLists.txt
index 4add4fdb..395eb5bf 100644
--- a/actionlib/test/CMakeLists.txt
+++ b/actionlib/test/CMakeLists.txt
@@ -61,7 +61,8 @@ add_rostest(test_python_server.launch)
 add_rostest(test_python_server2.launch)
 add_rostest(test_python_server3.launch)
 add_rostest(test_python_simple_server.launch)
-add_rostest(test_exercise_simple_clients.launch)
+add_rostest(test_cpp_exercise_simple_client.launch)
+add_rostest(test_python_exercise_simple_client.launch)
 add_rostest(test_simple_action_server_deadlock_python.launch)
 
 catkin_add_gtest(actionlib-destruction_guard_test destruction_guard_test.cpp)
diff --git a/actionlib/test/simple_client_test.cpp b/actionlib/test/simple_client_test.cpp
index ca6c144c..341bbc9f 100644
--- a/actionlib/test/simple_client_test.cpp
+++ b/actionlib/test/simple_client_test.cpp
@@ -79,23 +79,17 @@ TEST(SimpleClient, easy_tests) {
 }
 
 
-void easyDoneCallback(bool * called, const SimpleClientGoalState & state,
+void easyDoneCallback(bool * called, SimpleActionClient<TestAction> * ac, const SimpleClientGoalState & state,
   const TestResultConstPtr &)
 {
-  *called = true;
+  EXPECT_TRUE(ac->getState() == SimpleClientGoalState::SUCCEEDED)
+    << "Expected [SUCCEEDED], but getState() returned [" << ac->getState().toString() << "]";
   EXPECT_TRUE(state == SimpleClientGoalState::SUCCEEDED)
     << "Expected [SUCCEEDED], but goal state is [" << state.toString() << "]";
-}
-
-void easyOldDoneCallback(bool * called, const TerminalState & terminal_state,
-  const TestResultConstPtr &)
-{
+  ros::Duration(0.1).sleep();
   *called = true;
-  EXPECT_TRUE(terminal_state == TerminalState::SUCCEEDED)
-    << "Expected [SUCCEEDED], but terminal state is [" << terminal_state.toString() << "]";
 }
 
-/* Intermittent failures #5087
 TEST(SimpleClient, easy_callback)
 {
   ros::NodeHandle n;
@@ -104,18 +98,21 @@ TEST(SimpleClient, easy_callback)
   bool started = client.waitForServer(ros::Duration(10.0));
   ASSERT_TRUE(started);
 
+  // sleep a bit to make sure that all topics are properly connected to the server.
+  ros::Duration(0.01).sleep();
+
   TestGoal goal;
   bool finished;
 
   bool called = false;
   goal.goal = 1;
-  SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, _1, _2);
+  SimpleActionClient<TestAction>::SimpleDoneCallback func = boost::bind(&easyDoneCallback, &called, &client, _1, _2);
   client.sendGoal(goal, func);
   finished = client.waitForResult(ros::Duration(10.0));
   ASSERT_TRUE(finished);
   EXPECT_TRUE(called) << "easyDoneCallback() was never called" ;
 }
-*/
+
 void spinThread()
 {
   ros::NodeHandle nh;
diff --git a/actionlib/test/test_cpp_exercise_simple_client.launch b/actionlib/test/test_cpp_exercise_simple_client.launch
new file mode 100644
index 00000000..c7804f41
--- /dev/null
+++ b/actionlib/test/test_cpp_exercise_simple_client.launch
@@ -0,0 +1,9 @@
+<launch>
+
+  <node name="mock_simple_server"
+        pkg="actionlib" type="mock_simple_server.py" output="screen" />
+
+  <test test-name="test_cpp_simple_client" time-limit="90"
+        pkg="actionlib" type="actionlib-exercise_simple_client" />
+
+</launch>
diff --git a/actionlib/test/test_exercise_simple_clients.launch b/actionlib/test/test_python_exercise_simple_client.launch
similarity index 67%
rename from actionlib/test/test_exercise_simple_clients.launch
rename to actionlib/test/test_python_exercise_simple_client.launch
index c54905df..e541913d 100644
--- a/actionlib/test/test_exercise_simple_clients.launch
+++ b/actionlib/test/test_python_exercise_simple_client.launch
@@ -6,7 +6,4 @@
   <test test-name="test_py_simple_client"
         pkg="actionlib" type="exercise_simple_client.py" />
 
-  <test test-name="test_cpp_simple_client"
-        pkg="actionlib" type="actionlib-exercise_simple_client" />
-
 </launch>
diff --git a/actionlib_tools/CMakeLists.txt b/actionlib_tools/CMakeLists.txt
index e4dbdc62..0f76fa4f 100644
--- a/actionlib_tools/CMakeLists.txt
+++ b/actionlib_tools/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(actionlib_tools)
 
 find_package(catkin REQUIRED)