diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
index 11bfc96..b563367 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -524,6 +524,7 @@ inline void RosActionNode<T>::halt()
   {
     cancelGoal();
     onHalt();
+    resetStatus();
   }
 }