diff --git a/rcl_action/include/rcl_action/action_server.h b/rcl_action/include/rcl_action/action_server.h
index eb4f95ce9..24321f295 100644
--- a/rcl_action/include/rcl_action/action_server.h
+++ b/rcl_action/include/rcl_action/action_server.h
@@ -320,6 +320,7 @@ rcl_action_take_goal_request(
  * \return `RCL_RET_OK` if the response was sent successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
+ * \return `RCL_RET_TIMEOUT` if a goal response reader is not ready yet, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
 RCL_ACTION_PUBLIC
@@ -564,6 +565,7 @@ rcl_action_take_result_request(
  * \return `RCL_RET_OK` if the response was sent successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
+ * \return `RCL_RET_TIMEOUT` if a result response reader is not ready yet, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
 RCL_ACTION_PUBLIC
@@ -753,6 +755,7 @@ rcl_action_process_cancel_request(
  * \return `RCL_RET_OK` if the request was taken, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ACTION_SERVER_INVALID` if the action server is invalid, or
+ * \return `RCL_RET_TIMEOUT` if a cancel response reader is not ready yet, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
  */
 RCL_ACTION_PUBLIC
diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
index 63580c40f..17908d1da 100644
--- a/rcl_action/src/rcl_action/action_server.c
+++ b/rcl_action/src/rcl_action/action_server.c
@@ -299,7 +299,11 @@ rcl_action_server_get_default_options(void)
   rcl_ret_t ret = rcl_send_response( \
     &action_server->impl->Type ## _service, response_header, response); \
   if (RCL_RET_OK != ret) { \
-    return RCL_RET_ERROR;  /* error already set */ \
+    if (RCL_RET_TIMEOUT == ret) { \
+      return RCL_RET_TIMEOUT;  /* error already set */ \
+    } else { \
+      return RCL_RET_ERROR;  /* error already set */ \
+    } \
   } \
   return RCL_RET_OK; \