diff --git a/mros2_reasoner/mros2_reasoner/ros_reasoner.py b/mros2_reasoner/mros2_reasoner/ros_reasoner.py
index bf3f8c3..f7b011d 100644
--- a/mros2_reasoner/mros2_reasoner/ros_reasoner.py
+++ b/mros2_reasoner/mros2_reasoner/ros_reasoner.py
@@ -115,19 +115,22 @@ def set_initial_fd(self, initial_fd):
     def objective_cancel_goal_callback(self, cancel_request):
         self.get_logger().info("Cancel Action Callback!")
         # Stop reasoning
-        self.hasObjective = False
+ 
         if (cancel_request.qos_expected is None):
             # Checks if there are previously defined objectives.
             for old_objective in self.reasoner.search_objectives():
                 self.reasoner.remove_objective(old_objective.name)
+                self.hasObjective = False
                 return CancelResponse.ACCEPT
         else:
             if self.reasoner.remove_objective(cancel_request.qos_expected.objective_id):
                 self.get_logger().info("Objective Cancelled")
+                self.hasObjective = False
                 return CancelResponse.ACCEPT
             else:
                 self.get_logger().info("Not found")
                 return CancelResponse.REJECT
+