diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
index 7003c144c..7e53d4362 100644
--- a/capabilities/src/execute_task_solution_capability.cpp
+++ b/capabilities/src/execute_task_solution_capability.cpp
@@ -87,6 +87,8 @@ namespace move_group {
 ExecuteTaskSolutionCapability::ExecuteTaskSolutionCapability() : MoveGroupCapability("ExecuteTaskSolution") {}
 
 void ExecuteTaskSolutionCapability::initialize() {
+	action_callback_group_ =
+	    context_->moveit_cpp_->getNode()->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 	// configure the action server
 	as_ = rclcpp_action::create_server<moveit_task_constructor_msgs::action::ExecuteTaskSolution>(
 	    context_->moveit_cpp_->getNode(), "execute_task_solution",
@@ -95,7 +97,8 @@ void ExecuteTaskSolutionCapability::initialize() {
 	    ActionServerType::CancelCallback(
 	        std::bind(&ExecuteTaskSolutionCapability::preemptCallback, this, std::placeholders::_1)),
 	    ActionServerType::AcceptedCallback(
-	        std::bind(&ExecuteTaskSolutionCapability::goalCallback, this, std::placeholders::_1)));
+	        std::bind(&ExecuteTaskSolutionCapability::goalCallback, this, std::placeholders::_1)),
+	    rcl_action_server_get_default_options(), action_callback_group_);
 }
 
 void ExecuteTaskSolutionCapability::goalCallback(
diff --git a/capabilities/src/execute_task_solution_capability.h b/capabilities/src/execute_task_solution_capability.h
index 366347da7..53cf6c499 100644
--- a/capabilities/src/execute_task_solution_capability.h
+++ b/capabilities/src/execute_task_solution_capability.h
@@ -75,6 +75,7 @@ class ExecuteTaskSolutionCapability : public MoveGroupCapability
 	}
 
 	ActionServerType::SharedPtr as_;
+	rclcpp::CallbackGroup::SharedPtr action_callback_group_;
 };
 
 }  // namespace move_group
diff --git a/core/src/task.cpp b/core/src/task.cpp
index 9d1694fce..009d609c2 100644
--- a/core/src/task.cpp
+++ b/core/src/task.cpp
@@ -301,9 +301,17 @@ moveit_msgs::msg::MoveItErrorCodes Task::execute(const SolutionBase& s) {
 	}
 
 	auto result_future = ac->async_get_result(goal_handle);
-	if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::FutureReturnCode::SUCCESS) {
-		RCLCPP_ERROR(node->get_logger(), "Get result call failed");
-		return error_code;
+	while (result_future.wait_for(std::chrono::milliseconds(10)) != std::future_status::ready) {
+		if (pimpl()->preempt_requested_) {
+			auto cancel_future = ac->async_cancel_goal(goal_handle);
+			if (rclcpp::spin_until_future_complete(node, cancel_future) != rclcpp::FutureReturnCode::SUCCESS) {
+				RCLCPP_ERROR(node->get_logger(), "Could not preempt execution");
+				return error_code;
+			} else {
+				error_code.val = moveit_msgs::msg::MoveItErrorCodes::PREEMPTED;
+				return error_code;
+			}
+		}
 	}
 
 	auto result = result_future.get();