diff --git a/source/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.rst b/source/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.rst
index 3ada605427a..20cf5e9e440 100644
--- a/source/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.rst
+++ b/source/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.rst
@@ -312,21 +312,21 @@ That response is handled by ``goal_response_callback``:
 
 .. literalinclude:: scripts/client.cpp
     :language: c++
-    :lines: 62-71
+    :lines: 64-71
 
 Assuming the goal was accepted by the server, it will start processing.
 Any feedback to the client will be handled by the ``feedback_callback``:
 
 .. literalinclude:: scripts/client.cpp
     :language: c++
-    :lines: 72-83
+    :lines: 73-83
 
 When the server is finished processing, it will return a result to the client.
 The result is handled by the ``result_callback``:
 
 .. literalinclude:: scripts/client.cpp
     :language: c++
-    :lines: 84-107
+    :lines: 85-107
 
 We now have a fully functioning action client.  Let's get it built and running.
 
diff --git a/source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/client.cpp b/source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/client.cpp
index 4ec691ba82c..b95f58aeab7 100644
--- a/source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/client.cpp
+++ b/source/Tutorials/Intermediate/Writing-an-Action-Server-Client/scripts/client.cpp
@@ -53,12 +53,13 @@ class FibonacciActionClient : public rclcpp::Node
       std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
     send_goal_options.result_callback =
       std::bind(&FibonacciActionClient::result_callback, this, _1);
-    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
+    goal_future_ = this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
   }
 
 private:
   rclcpp_action::Client<Fibonacci>::SharedPtr client_ptr_;
   rclcpp::TimerBase::SharedPtr timer_;
+  std::shared_future<GoalHandleFibonacci::SharedPtr> goal_future_;
 
   void goal_response_callback(const GoalHandleFibonacci::SharedPtr & goal_handle)
   {