On ROS 1, when I pressed ctrl + C on the action server node, it could abort the goal and notify the action client. How can I replicate this behavior on ROS 2?

The action client gets stuck while waiting for the goal response on ROS 2. I tried to implement a callback using rclcpp::on_shutdown() to end the goal, but I got an error saying only "Asked to publish result for goal that does not exist.".

My action server was implemented using simpleactionserver.h on ROS 1.

The on_shutdown() callback code is:

void ActionServer::cleanActionServer(){

    try {
        if (goal_pointer != nullptr){
            action_result->error_code = -99;
            action_result->error_string = "Shutdown";
            goal_pointer->abort(action_result);
        }
    }
    catch (const std::exception& e) {
        std::cerr << "Error: " << e.what() << '\n';
    }

    RCLCPP_INFO(rclcpp::get_logger("driver_end"), "Called on shutdown.");
}