diff --git a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
index fc68754059..8264be798a 100644
--- a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
+++ b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
@@ -138,7 +138,7 @@ class MoveItControllerHandle
    * Return true if the execution is complete (whether successful or not).
    * Return false if timeout was reached.
    * If timeout is -1 (default argument), wait until the execution is complete (no timeout). */
-  virtual bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration(-1)) = 0;
+  virtual bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration::from_nanoseconds(-1)) = 0;
 
   /** \brief Return the execution status of the last trajectory sent to the controller. */
   virtual ExecutionStatus getLastExecutionStatus() = 0;
diff --git a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
index ec71aac3be..1c74b62a1c 100644
--- a/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
+++ b/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h
@@ -150,7 +150,7 @@ class GripperControllerHandle : public ActionBasedControllerHandle<control_msgs:
     rclcpp_action::Client<control_msgs::action::GripperCommand>::SendGoalOptions send_goal_options;
     // Active callback
     send_goal_options.goal_response_callback =
-        [this](std::shared_future<rclcpp_action::Client<control_msgs::action::GripperCommand>::GoalHandle::SharedPtr>
+        [this](rclcpp_action::Client<control_msgs::action::GripperCommand>::GoalHandle::SharedPtr
                /* unused-arg */) { RCLCPP_DEBUG_STREAM(LOGGER, name_ << " started execution"); };
     // Send goal
     auto current_goal_future = controller_action_client_->async_send_goal(goal, send_goal_options);
diff --git a/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp b/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
index 9c0b299402..ee26da5316 100644
--- a/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
+++ b/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
@@ -66,11 +66,8 @@ bool FollowJointTrajectoryControllerHandle::sendTrajectory(const moveit_msgs::ms
   rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::SendGoalOptions send_goal_options;
   // Active callback
   send_goal_options.goal_response_callback =
-      [this](
-          std::shared_future<rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::GoalHandle::SharedPtr>
-              future) {
+      [this](rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::GoalHandle::SharedPtr goal_handle) {
         RCLCPP_INFO_STREAM(LOGGER, name_ << " started execution");
-        const auto& goal_handle = future.get();
         if (!goal_handle)
           RCLCPP_WARN(LOGGER, "Goal request rejected");
         else
diff --git a/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp b/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp
index 87f142551c..dbe5d4cc71 100644
--- a/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp
+++ b/moveit_ros/hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/src/hybrid_planning_manager.cpp
@@ -212,8 +212,7 @@ bool HybridPlanningManager::sendGlobalPlannerAction()
 
   // Add goal response callback
   global_goal_options.goal_response_callback =
-      [this](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::GlobalPlanner>::SharedPtr> future) {
-        auto const& goal_handle = future.get();
+      [this](rclcpp_action::ClientGoalHandle<moveit_msgs::action::GlobalPlanner>::SharedPtr goal_handle) {
         auto planning_progress = std::make_shared<moveit_msgs::action::HybridPlanner::Feedback>();
         auto& feedback = planning_progress->feedback;
         if (!goal_handle)
@@ -283,8 +282,7 @@ bool HybridPlanningManager::sendLocalPlannerAction()
 
   // Add goal response callback
   local_goal_options.goal_response_callback =
-      [this](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::LocalPlanner>::SharedPtr> future) {
-        auto const& goal_handle = future.get();
+      [this](rclcpp_action::ClientGoalHandle<moveit_msgs::action::LocalPlanner>::SharedPtr goal_handle) {
         auto planning_progress = std::make_shared<moveit_msgs::action::HybridPlanner::Feedback>();
         auto& feedback = planning_progress->feedback;
         if (!goal_handle)
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 0e2d80e09b..c9898f5e62 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -762,8 +762,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::MoveGroup>::SendGoalOptions();
 
     send_goal_opts.goal_response_callback =
-        [&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr> future) {
-          const auto& goal_handle = future.get();
+        [&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr goal_handle) {
           if (!goal_handle)
           {
             done = true;
@@ -841,8 +840,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::MoveGroup>::SendGoalOptions();
 
     send_goal_opts.goal_response_callback =
-        [&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr> future) {
-          const auto& goal_handle = future.get();
+        [&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::MoveGroup>::SharedPtr goal_handle) {
           if (!goal_handle)
           {
             done = true;
@@ -906,9 +904,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     auto send_goal_opts = rclcpp_action::Client<moveit_msgs::action::ExecuteTrajectory>::SendGoalOptions();
 
     send_goal_opts.goal_response_callback =
-        [&](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr>
-                future) {
-          const auto& goal_handle = future.get();
+        [&](rclcpp_action::ClientGoalHandle<moveit_msgs::action::ExecuteTrajectory>::SharedPtr goal_handle) {
           if (!goal_handle)
           {
             done = true;