diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
index ac8b92767..6ff653bed 100644
--- a/rcl_action/src/rcl_action/action_server.c
+++ b/rcl_action/src/rcl_action/action_server.c
@@ -431,7 +431,7 @@ _recalculate_expire_timer(
   rcl_clock_t * clock)
 {
   size_t num_inactive_goals = 0u;
-  int64_t minimum_period = 0;
+  int64_t minimum_period = timeout;
 
   // Get current time (nanosec)
   int64_t current_time;