diff --git a/test_communication/test/action_server_py.py b/test_communication/test/action_server_py.py
index c6b95f33..9ee2c932 100644
--- a/test_communication/test/action_server_py.py
+++ b/test_communication/test/action_server_py.py
@@ -38,7 +38,7 @@ def execute_callback(goal_handle):
                 return expected_goal.execute_goal(goal_handle)
         # Not an expected goal (this should not happen)
         print('Unexpected goal received by action server', file=sys.stderr)
-        goal_handle.set_aborted()
+        goal_handle.abort()
         return action_type.Result()
 
     action_name = 'test/action/' + action_type.__name__
@@ -61,12 +61,12 @@ def execute_goal(goal_handle):
 
         for i in range(1, goal.order):
             if not rclpy.ok():
-                goal_handle.set_aborted()
+                goal_handle.abort()
                 return Fibonacci.Result()
 
             # Check if the goal was canceled
             if goal_handle.is_cancel_requested:
-                goal_handle.set_canceled()
+                goal_handle.cancel()
                 result = Fibonacci.Result()
                 result.sequence = feedback.sequence
                 print('Goal was canceled')
@@ -85,7 +85,7 @@ def execute_goal(goal_handle):
         # Send final result
         result = Fibonacci.Result()
         result.sequence = feedback.sequence
-        goal_handle.set_succeeded()
+        goal_handle.succeed()
         print('Goal succeeded')
         return result
 
@@ -118,12 +118,12 @@ def execute_goal(goal_handle):
         num_feedback = 10
         for i in range(0, num_feedback):
             if not rclpy.ok():
-                goal_handle.set_aborted()
+                goal_handle.abort()
                 return NestedMessage.Result()
 
             # Check if the goal was canceled
             if goal_handle.is_cancel_requested:
-                goal_handle.set_canceled()
+                goal_handle.cancel()
                 print('Goal was canceled')
                 return result
 
@@ -135,7 +135,7 @@ def execute_goal(goal_handle):
             time.sleep(0.1)
 
         # Send final result
-        goal_handle.set_succeeded()
+        goal_handle.succeed()
         print('Goal succeeded')
         return result
 
diff --git a/test_communication/test/test_action_server.cpp b/test_communication/test/test_action_server.cpp
index ddddda6c..c0df4208 100644
--- a/test_communication/test/test_action_server.cpp
+++ b/test_communication/test/test_action_server.cpp
@@ -142,7 +142,7 @@ generate_expected_fibonacci_goals(rclcpp::Logger logger)
           // Check if the goal was canceled.
           if (goal_handle->is_canceling()) {
             result->sequence = feedback->sequence;
-            goal_handle->set_canceled(result);
+            goal_handle->cancel(result);
             RCLCPP_INFO(logger, "goal was canceled");
             return;
           }
@@ -157,7 +157,7 @@ generate_expected_fibonacci_goals(rclcpp::Logger logger)
         }
 
         result->sequence = feedback->sequence;
-        goal_handle->set_succeeded(result);
+        goal_handle->succeed(result);
         RCLCPP_INFO(logger, "goal succeeded");
       };
 
@@ -213,7 +213,7 @@ generate_expected_nested_message_goals(rclcpp::Logger logger)
           // Check if the goal was canceled.
           if (goal_handle->is_canceling()) {
             result->nested_field.int32_value = result_value;
-            goal_handle->set_canceled(result);
+            goal_handle->cancel(result);
             RCLCPP_INFO(logger, "goal was canceled");
             return;
           }
@@ -227,7 +227,7 @@ generate_expected_nested_message_goals(rclcpp::Logger logger)
         }
 
         result->nested_field.int32_value = result_value;
-        goal_handle->set_succeeded(result);
+        goal_handle->succeed(result);
         RCLCPP_INFO(logger, "goal succeeded");
       };