diff --git a/tf2_ros/test/test_buffer_server.cpp b/tf2_ros/test/test_buffer_server.cpp
index b91960e197..bdb85fdcaa 100644
--- a/tf2_ros/test/test_buffer_server.cpp
+++ b/tf2_ros/test/test_buffer_server.cpp
@@ -82,8 +82,7 @@ class MockBufferClient : public rclcpp::Node
 
     auto send_goal_options = rclcpp_action::Client<LookupTransformAction>::SendGoalOptions();
     send_goal_options.goal_response_callback =
-      [this](std::shared_future<GoalHandle::SharedPtr> future) {
-        auto goal_handle = future.get();
+      [this](GoalHandle::SharedPtr goal_handle) {
         if (!goal_handle) {
           this->accepted_ = false;
         } else {