diff --git a/rclcpp/actions/minimal_action_client/member_functions.cpp b/rclcpp/actions/minimal_action_client/member_functions.cpp
index 5b23940f..f5c827ee 100644
--- a/rclcpp/actions/minimal_action_client/member_functions.cpp
+++ b/rclcpp/actions/minimal_action_client/member_functions.cpp
@@ -88,9 +88,8 @@ class MinimalActionClient : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
   bool goal_done_;
 
-  void goal_response_callback(std::shared_future<GoalHandleFibonacci::SharedPtr> future)
+  void goal_response_callback(GoalHandleFibonacci::SharedPtr goal_handle)
   {
-    auto goal_handle = future.get();
     if (!goal_handle) {
       RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
     } else {