diff --git a/rossdl_tests/rossdl_simple_test/tests/rossdl_generation_test.cpp b/rossdl_tests/rossdl_simple_test/tests/rossdl_generation_test.cpp
index 195f2ce..7500af9 100644
--- a/rossdl_tests/rossdl_simple_test/tests/rossdl_generation_test.cpp
+++ b/rossdl_tests/rossdl_simple_test/tests/rossdl_generation_test.cpp
@@ -23,11 +23,15 @@
 
 #include "gtest/gtest.h"
 
+using namespace std::chrono_literals;
 
 TEST(rossdl_generation_test, image_filter_unit)
 {
   auto image_filter = std::make_shared<rossdl_simple_test::ImageFilter>();
 
+  auto start = image_filter->now();
+  while (image_filter->now() - start < 100ms) {rclcpp::spin_some(image_filter);}
+
   // Parameters
   ASSERT_TRUE(image_filter->has_parameter("description_label"));
   auto param1 = image_filter->get_parameter("description_label");
@@ -81,6 +85,9 @@ TEST(rossdl_generation_test, consumer_unit)
 {
   auto consumer = std::make_shared<rossdl_simple_test::Consumer>();
 
+  auto start = consumer->now();
+  while (consumer->now() - start < 100ms) {rclcpp::spin_some(consumer);}
+
   auto topics = consumer->get_topic_names_and_types();
 
   ASSERT_EQ(topics.size(), 5u);
diff --git a/rossdl_tests/rossdl_systems_test/system_a/tests/rossdl_generation_test.cpp b/rossdl_tests/rossdl_systems_test/system_a/tests/rossdl_generation_test.cpp
index 56415f8..60194ec 100644
--- a/rossdl_tests/rossdl_systems_test/system_a/tests/rossdl_generation_test.cpp
+++ b/rossdl_tests/rossdl_systems_test/system_a/tests/rossdl_generation_test.cpp
@@ -22,11 +22,15 @@
 
 #include "gtest/gtest.h"
 
+using namespace std::chrono_literals;
 
 TEST(rossdl_generation_test, image_filter_unit)
 {
   auto image_filter = std::make_shared<system_a::ImageFilter>();
 
+  auto start = image_filter->now();
+  while (image_filter->now() - start < 100ms) {rclcpp::spin_some(image_filter);}
+
   // Parameters
   ASSERT_TRUE(image_filter->has_parameter("description_label"));
   auto param1 = image_filter->get_parameter("description_label");
diff --git a/rossdl_tests/rossdl_systems_test/system_b/tests/rossdl_generation_test.cpp b/rossdl_tests/rossdl_systems_test/system_b/tests/rossdl_generation_test.cpp
index 2fe5753..19f1c7d 100644
--- a/rossdl_tests/rossdl_systems_test/system_b/tests/rossdl_generation_test.cpp
+++ b/rossdl_tests/rossdl_systems_test/system_b/tests/rossdl_generation_test.cpp
@@ -22,11 +22,15 @@
 
 #include "gtest/gtest.h"
 
+using namespace std::chrono_literals;
 
 TEST(rossdl_generation_test, consumer_unit)
 {
   auto consumer = std::make_shared<system_b::Consumer>();
 
+  auto start = consumer->now();
+  while (consumer->now() - start < 100ms) {rclcpp::spin_some(consumer);}
+
   auto topics = consumer->get_topic_names_and_types();
 
   ASSERT_EQ(topics.size(), 5);