From 237489a67972809e3b3339cc8856f2db0cb95034 Mon Sep 17 00:00:00 2001
From: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
Date: Tue, 11 Aug 2026 15:41:23 +0200
Subject: [PATCH] Fix action node halt

---
 behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp | 1 +
 1 file changed, 1 insertion(+)

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();
   }
 }