diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
index 718e6f5856..de45accc0a 100644
--- a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
+++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -257,7 +257,7 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat
   EXPECT_EQ(msg.steering_angle_command[1], 4.4);
 
   publish_commands();
-  ASSERT_TRUE(controller_->wait_for_commands(executor));
+  controller_->wait_for_commands(executor);
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
index c28e692b78..f9835a5e88 100644
--- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
+++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -76,14 +76,7 @@ class TestableAckermannSteeringController
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override
   {
-    auto ret =
-      ackermann_steering_controller::AckermannSteeringController::on_configure(previous_state);
-    // Only if on_configure is successful create subscription
-    if (ret == CallbackReturn::SUCCESS)
-    {
-      ref_subscriber_wait_set_.add_subscription(ref_subscriber_twist_);
-    }
-    return ret;
+    return ackermann_steering_controller::AckermannSteeringController::on_configure(previous_state);
   }
 
   controller_interface::CallbackReturn on_activate(
@@ -97,30 +90,25 @@ class TestableAckermannSteeringController
    * @brief wait_for_command blocks until a new ControllerReferenceMsg is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function.
-   *
-   * @return true if new ControllerReferenceMsg msg was received, false if timeout.
    */
-  bool wait_for_command(
-    rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set,
+  void wait_for_command(
+    rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready;
-    if (success)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return success;
   }
 
-  bool wait_for_commands(
+  void wait_for_commands(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    return wait_for_command(executor, ref_subscriber_wait_set_, timeout);
+    wait_for_command(executor, timeout);
   }
-
-private:
-  rclcpp::WaitSet ref_subscriber_wait_set_;
 };
 
 // We are using template class here for easier reuse of Fixture in specializations of controllers
@@ -212,36 +200,43 @@ class AckermannSteeringControllerFixture : public ::testing::Test
   void subscribe_and_get_messages(ControllerStateMsg & msg)
   {
     // create a new subscriber
+    ControllerStateMsg::SharedPtr received_msg;
     rclcpp::Node test_subscription_node("test_subscription_node");
-    auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {};
+    auto subs_callback = [&](const ControllerStateMsg::SharedPtr cb_msg) { received_msg = cb_msg; };
     auto subscription = test_subscription_node.create_subscription<ControllerStateMsg>(
       "/test_ackermann_steering_controller/controller_state", 10, subs_callback);
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(test_subscription_node.get_node_base_interface());
 
     // call update to publish the test value
     ASSERT_EQ(
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
       controller_interface::return_type::OK);
-
     // call update to publish the test value
     // since update doesn't guarantee a published message, republish until received
     int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-    rclcpp::WaitSet wait_set;          // block used to wait on message
-    wait_set.add_subscription(subscription);
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
+      const auto timeout = std::chrono::milliseconds{1};
+      const auto until = test_subscription_node.get_clock()->now() + timeout;
+      while (!received_msg && test_subscription_node.get_clock()->now() < until)
+      {
+        executor.spin_some();
+        std::this_thread::sleep_for(std::chrono::microseconds(10));
+      }
       // check if message has been received
-      if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+      if (received_msg.get())
       {
         break;
       }
     }
     ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                               "controller/broadcaster update loop";
+    ASSERT_TRUE(received_msg);
 
     // take message from subscription
-    rclcpp::MessageInfo msg_info;
-    ASSERT_TRUE(subscription->take(msg, msg_info));
+    msg = *received_msg;
   }
 
   void publish_commands(const double linear = 0.1, const double angular = 0.2)
diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp
index 8bc5d5d2d8..1806da7da3 100644
--- a/admittance_controller/test/test_admittance_controller.cpp
+++ b/admittance_controller/test/test_admittance_controller.cpp
@@ -279,7 +279,7 @@ TEST_F(AdmittanceControllerTest, receive_message_and_publish_updated_status)
   //   ASSERT_EQ(msg.wrench_base.header.frame_id, ik_base_frame_);
 
   publish_commands();
-  ASSERT_TRUE(controller_->wait_for_commands(executor));
+  controller_->wait_for_commands(executor);
 
   broadcast_tfs();
   ASSERT_EQ(
diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
index 04c629a21b..bb1d7b799d 100644
--- a/admittance_controller/test/test_admittance_controller.hpp
+++ b/admittance_controller/test/test_admittance_controller.hpp
@@ -55,15 +55,6 @@ constexpr auto NODE_SUCCESS =
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
 constexpr auto NODE_ERROR =
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
-
-rclcpp::WaitResultKind wait_for(rclcpp::SubscriptionBase::SharedPtr subscription)
-{
-  rclcpp::WaitSet wait_set;
-  wait_set.add_subscription(subscription);
-  const auto timeout = std::chrono::seconds(10);
-  return wait_set.wait(timeout).kind();
-}
-
 }  // namespace
 
 // subclassing and friending so we can access member variables
@@ -90,39 +81,27 @@ class TestableAdmittanceController : public admittance_controller::AdmittanceCon
 
   CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override
   {
-    auto ret = admittance_controller::AdmittanceController::on_configure(previous_state);
-    // Only if on_configure is successful create subscription
-    if (ret == CallbackReturn::SUCCESS)
-    {
-      input_pose_command_subscriber_wait_set_.add_subscription(input_joint_command_subscriber_);
-    }
-    return ret;
+    return admittance_controller::AdmittanceController::on_configure(previous_state);
   }
 
   /**
    * @brief wait_for_commands blocks until a new ControllerCommandMsg is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function.
-   *
-   * @return true if new ControllerCommandMsg msg was received, false if timeout.
    */
-  bool wait_for_commands(
+  void wait_for_commands(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    bool success =
-      input_pose_command_subscriber_wait_set_.wait(timeout).kind() == rclcpp::WaitResultKind::Ready;
-
-    if (success)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return success;
   }
 
 private:
-  rclcpp::WaitSet input_wrench_command_subscriber_wait_set_;
-  rclcpp::WaitSet input_pose_command_subscriber_wait_set_;
   const std::string robot_description_ = ros2_control_test_assets::valid_6d_robot_urdf;
   const std::string robot_description_semantic_ = ros2_control_test_assets::valid_6d_robot_srdf;
 };
@@ -277,9 +256,12 @@ class AdmittanceControllerTest : public ::testing::Test
   void subscribe_and_get_messages(ControllerStateMsg & msg)
   {
     // create a new subscriber
-    auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {};
+    ControllerStateMsg::SharedPtr received_msg;
+    auto subs_callback = [&](const ControllerStateMsg::SharedPtr cb_msg) { received_msg = cb_msg; };
     auto subscription = test_subscription_node_->create_subscription<ControllerStateMsg>(
       "/test_admittance_controller/status", 10, subs_callback);
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(test_subscription_node_->get_node_base_interface());
 
     // call update to publish the test value
     ASSERT_EQ(
@@ -287,11 +269,18 @@ class AdmittanceControllerTest : public ::testing::Test
       controller_interface::return_type::OK);
 
     // wait for message to be passed
-    ASSERT_EQ(wait_for(subscription), rclcpp::WaitResultKind::Ready);
+    const auto timeout = std::chrono::milliseconds{1};
+    const auto until = test_subscription_node_->get_clock()->now() + timeout;
+    while (!received_msg && test_subscription_node_->get_clock()->now() < until)
+    {
+      executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
+    }
+
+    ASSERT_TRUE(received_msg);
 
     // take message from subscription
-    rclcpp::MessageInfo msg_info;
-    ASSERT_TRUE(subscription->take(msg, msg_info));
+    msg = *received_msg;
   }
 
   void publish_commands()
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
index 9904f791b6..a06aabbd20 100644
--- a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
+++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -238,7 +238,7 @@ TEST_F(BicycleSteeringControllerTest, receive_message_and_publish_updated_status
   EXPECT_EQ(msg.steering_angle_command[0], 2.2);
 
   publish_commands(0.1, 0.2);
-  ASSERT_TRUE(controller_->wait_for_commands(executor));
+  controller_->wait_for_commands(executor);
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
index 0c894087be..00035b048b 100644
--- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
+++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -74,13 +74,7 @@ class TestableBicycleSteeringController
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override
   {
-    auto ret = bicycle_steering_controller::BicycleSteeringController::on_configure(previous_state);
-    // Only if on_configure is successful create subscription
-    if (ret == CallbackReturn::SUCCESS)
-    {
-      ref_subscriber_wait_set_.add_subscription(ref_subscriber_twist_);
-    }
-    return ret;
+    return bicycle_steering_controller::BicycleSteeringController::on_configure(previous_state);
   }
 
   controller_interface::CallbackReturn on_activate(
@@ -94,30 +88,25 @@ class TestableBicycleSteeringController
    * @brief wait_for_command blocks until a new ControllerReferenceMsg is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function.
-   *
-   * @return true if new ControllerReferenceMsg msg was received, false if timeout.
    */
-  bool wait_for_command(
-    rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set,
+  void wait_for_command(
+    rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready;
-    if (success)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return success;
   }
 
-  bool wait_for_commands(
+  void wait_for_commands(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    return wait_for_command(executor, ref_subscriber_wait_set_, timeout);
+    wait_for_command(executor, timeout);
   }
-
-private:
-  rclcpp::WaitSet ref_subscriber_wait_set_;
 };
 
 // We are using template class here for easier reuse of Fixture in specializations of controllers
@@ -185,34 +174,43 @@ class BicycleSteeringControllerFixture : public ::testing::Test
   void subscribe_and_get_messages(ControllerStateMsg & msg)
   {
     // create a new subscriber
+    ControllerStateMsg::SharedPtr received_msg;
     rclcpp::Node test_subscription_node("test_subscription_node");
-    auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {};
+    auto subs_callback = [&](const ControllerStateMsg::SharedPtr cb_msg) { received_msg = cb_msg; };
     auto subscription = test_subscription_node.create_subscription<ControllerStateMsg>(
       "/test_bicycle_steering_controller/controller_state", 10, subs_callback);
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(test_subscription_node.get_node_base_interface());
 
     // call update to publish the test value
     ASSERT_EQ(
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
       controller_interface::return_type::OK);
+    // call update to publish the test value
     // since update doesn't guarantee a published message, republish until received
     int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-    rclcpp::WaitSet wait_set;          // block used to wait on max_sub_check_loop_count
-    wait_set.add_subscription(subscription);
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
+      const auto timeout = std::chrono::milliseconds{1};
+      const auto until = test_subscription_node.get_clock()->now() + timeout;
+      while (!received_msg && test_subscription_node.get_clock()->now() < until)
+      {
+        executor.spin_some();
+        std::this_thread::sleep_for(std::chrono::microseconds(10));
+      }
       // check if message has been received
-      if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+      if (received_msg.get())
       {
         break;
       }
     }
     ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                               "controller/broadcaster update loop";
+    ASSERT_TRUE(received_msg);
 
     // take message from subscription
-    rclcpp::MessageInfo msg_info;
-    ASSERT_TRUE(subscription->take(msg, msg_info));
+    msg = *received_msg;
   }
 
   void publish_commands(const double linear = 0.1, const double angular = 0.2)
diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
index 8c09e5042e..3b119afb96 100644
--- a/diff_drive_controller/test/test_diff_drive_controller.cpp
+++ b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -57,22 +57,17 @@ class TestableDiffDriveController : public diff_drive_controller::DiffDriveContr
    * @brief wait_for_twist block until a new twist is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function
-   *
-   * @return true if new twist msg was received, false if timeout
    */
-  bool wait_for_twist(
+  void wait_for_twist(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds(500))
   {
-    rclcpp::WaitSet wait_set;
-    wait_set.add_subscription(velocity_command_subscriber_);
-
-    if (wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
-      return true;
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return false;
   }
 
   /**
@@ -547,7 +542,7 @@ TEST_F(TestDiffDriveController, correct_initialization_using_parameters)
   const double angular = 0.0;
   publish(linear, angular);
   // wait for msg is be published to the system
-  ASSERT_TRUE(controller_->wait_for_twist(executor));
+  controller_->wait_for_twist(executor);
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
index 256a4ce465..7ae0e3b8fb 100644
--- a/effort_controllers/test/test_joint_group_effort_controller.cpp
+++ b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -30,17 +30,6 @@
 using CallbackReturn = controller_interface::CallbackReturn;
 using hardware_interface::LoanedCommandInterface;
 
-namespace
-{
-rclcpp::WaitResultKind wait_for(rclcpp::SubscriptionBase::SharedPtr subscription)
-{
-  rclcpp::WaitSet wait_set;
-  wait_set.add_subscription(subscription);
-  const auto timeout = std::chrono::seconds(10);
-  return wait_set.wait(timeout).kind();
-}
-}  // namespace
-
 void JointGroupEffortControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
 
 void JointGroupEffortControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
@@ -62,6 +51,7 @@ void JointGroupEffortControllerTest::SetUpController()
   command_ifs.emplace_back(joint_2_cmd_);
   command_ifs.emplace_back(joint_3_cmd_);
   controller_->assign_interfaces(std::move(command_ifs), {});
+  executor.add_node(controller_->get_node()->get_node_base_interface());
 }
 
 TEST_F(JointGroupEffortControllerTest, JointsParameterNotSet)
@@ -203,10 +193,13 @@ TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
   command_pub->publish(command_msg);
 
   // wait for command message to be passed
-  ASSERT_EQ(wait_for(controller_->joints_command_subscriber_), rclcpp::WaitResultKind::Ready);
-
-  // process callbacks
-  rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
+  const auto timeout = std::chrono::milliseconds{10};
+  const auto until = controller_->get_node()->get_clock()->now() + timeout;
+  while (controller_->get_node()->get_clock()->now() < until)
+  {
+    executor.spin_some();
+    std::this_thread::sleep_for(std::chrono::microseconds(10));
+  }
 
   // update successful
   ASSERT_EQ(
diff --git a/effort_controllers/test/test_joint_group_effort_controller.hpp b/effort_controllers/test/test_joint_group_effort_controller.hpp
index 6ae9db4670..e871ac6c43 100644
--- a/effort_controllers/test/test_joint_group_effort_controller.hpp
+++ b/effort_controllers/test/test_joint_group_effort_controller.hpp
@@ -24,6 +24,7 @@
 #include "effort_controllers/joint_group_effort_controller.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
 
 using hardware_interface::CommandInterface;
 using hardware_interface::HW_IF_EFFORT;
@@ -57,6 +58,7 @@ class JointGroupEffortControllerTest : public ::testing::Test
   CommandInterface joint_1_cmd_{joint_names_[0], HW_IF_EFFORT, &joint_commands_[0]};
   CommandInterface joint_2_cmd_{joint_names_[1], HW_IF_EFFORT, &joint_commands_[1]};
   CommandInterface joint_3_cmd_{joint_names_[2], HW_IF_EFFORT, &joint_commands_[2]};
+  rclcpp::executors::SingleThreadedExecutor executor;
 };
 
 #endif  // TEST_JOINT_GROUP_EFFORT_CONTROLLER_HPP_
diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
index b9e634ff55..5b8ee55648 100644
--- a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
+++ b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -73,31 +73,40 @@ void ForceTorqueSensorBroadcasterTest::subscribe_and_get_message(
   geometry_msgs::msg::WrenchStamped & wrench_msg)
 {
   // create a new subscriber
+  geometry_msgs::msg::WrenchStamped::SharedPtr received_msg;
   rclcpp::Node test_subscription_node("test_subscription_node");
-  auto subs_callback = [&](const geometry_msgs::msg::WrenchStamped::SharedPtr) {};
+  auto subs_callback = [&](const geometry_msgs::msg::WrenchStamped::SharedPtr msg)
+  { received_msg = msg; };
   auto subscription = test_subscription_node.create_subscription<geometry_msgs::msg::WrenchStamped>(
     "/test_force_torque_sensor_broadcaster/wrench", 10, subs_callback);
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(test_subscription_node.get_node_base_interface());
 
   // call update to publish the test value
   // since update doesn't guarantee a published message, republish until received
   int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-  rclcpp::WaitSet wait_set;          // block used to wait on message
-  wait_set.add_subscription(subscription);
   while (max_sub_check_loop_count--)
   {
     fts_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
+    const auto timeout = std::chrono::milliseconds{1};
+    const auto until = test_subscription_node.get_clock()->now() + timeout;
+    while (!received_msg && test_subscription_node.get_clock()->now() < until)
+    {
+      executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
+    }
     // check if message has been received
-    if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+    if (received_msg.get())
     {
       break;
     }
   }
   ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                             "controller/broadcaster update loop";
+  ASSERT_TRUE(received_msg);
 
   // take message from subscription
-  rclcpp::MessageInfo msg_info;
-  ASSERT_TRUE(subscription->take(wrench_msg, msg_info));
+  wrench_msg = *received_msg;
 }
 
 TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_InterfaceNames_NotSet)
diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
index 10323e6204..6836610c4c 100644
--- a/forward_command_controller/test/test_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -30,24 +30,12 @@
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/utilities.hpp"
-#include "rclcpp/wait_set.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using hardware_interface::LoanedCommandInterface;
 using testing::IsEmpty;
 using testing::SizeIs;
 
-namespace
-{
-rclcpp::WaitResultKind wait_for(rclcpp::SubscriptionBase::SharedPtr subscription)
-{
-  rclcpp::WaitSet wait_set;
-  wait_set.add_subscription(subscription);
-  const auto timeout = std::chrono::seconds(10);
-  return wait_set.wait(timeout).kind();
-}
-}  // namespace
-
 void ForwardCommandControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
 
 void ForwardCommandControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
@@ -70,6 +58,7 @@ void ForwardCommandControllerTest::SetUpController()
   command_ifs.emplace_back(joint_2_pos_cmd_);
   command_ifs.emplace_back(joint_3_pos_cmd_);
   controller_->assign_interfaces(std::move(command_ifs), {});
+  executor.add_node(controller_->get_node()->get_node_base_interface());
 }
 
 TEST_F(ForwardCommandControllerTest, JointsParameterNotSet)
@@ -319,10 +308,13 @@ TEST_F(ForwardCommandControllerTest, CommandCallbackTest)
   command_pub->publish(command_msg);
 
   // wait for command message to be passed
-  ASSERT_EQ(wait_for(controller_->joints_command_subscriber_), rclcpp::WaitResultKind::Ready);
-
-  // process callbacks
-  rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
+  const auto timeout = std::chrono::milliseconds{10};
+  const auto until = controller_->get_node()->get_clock()->now() + timeout;
+  while (controller_->get_node()->get_clock()->now() < until)
+  {
+    executor.spin_some();
+    std::this_thread::sleep_for(std::chrono::microseconds(10));
+  }
 
   // update successful
   ASSERT_EQ(
diff --git a/forward_command_controller/test/test_forward_command_controller.hpp b/forward_command_controller/test/test_forward_command_controller.hpp
index 9c6bd2a352..2284d46d61 100644
--- a/forward_command_controller/test/test_forward_command_controller.hpp
+++ b/forward_command_controller/test/test_forward_command_controller.hpp
@@ -24,6 +24,7 @@
 #include "forward_command_controller/forward_command_controller.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
 
 using hardware_interface::CommandInterface;
 using hardware_interface::HW_IF_POSITION;
@@ -69,6 +70,7 @@ class ForwardCommandControllerTest : public ::testing::Test
   CommandInterface joint_1_pos_cmd_{joint_names_[0], HW_IF_POSITION, &joint_commands_[0]};
   CommandInterface joint_2_pos_cmd_{joint_names_[1], HW_IF_POSITION, &joint_commands_[1]};
   CommandInterface joint_3_pos_cmd_{joint_names_[2], HW_IF_POSITION, &joint_commands_[2]};
+  rclcpp::executors::SingleThreadedExecutor executor;
 };
 
 #endif  // TEST_FORWARD_COMMAND_CONTROLLER_HPP_
diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
index c50f4bc7aa..adc04de799 100644
--- a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
+++ b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
@@ -32,24 +32,12 @@
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/utilities.hpp"
-#include "rclcpp/wait_set.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using hardware_interface::LoanedCommandInterface;
 using testing::IsEmpty;
 using testing::SizeIs;
 
-namespace
-{
-rclcpp::WaitResultKind wait_for(rclcpp::SubscriptionBase::SharedPtr subscription)
-{
-  rclcpp::WaitSet wait_set;
-  wait_set.add_subscription(subscription);
-  const auto timeout = std::chrono::seconds(10);
-  return wait_set.wait(timeout).kind();
-}
-}  // namespace
-
 void MultiInterfaceForwardCommandControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
 
 void MultiInterfaceForwardCommandControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
@@ -72,6 +60,7 @@ void MultiInterfaceForwardCommandControllerTest::SetUpController(bool set_params
   command_ifs.emplace_back(joint_1_vel_cmd_);
   command_ifs.emplace_back(joint_1_eff_cmd_);
   controller_->assign_interfaces(std::move(command_ifs), {});
+  executor.add_node(controller_->get_node()->get_node_base_interface());
 
   if (set_params_and_activate)
   {
@@ -271,10 +260,13 @@ TEST_F(MultiInterfaceForwardCommandControllerTest, CommandCallbackTest)
   command_pub->publish(command_msg);
 
   // wait for command message to be passed
-  ASSERT_EQ(wait_for(controller_->joints_command_subscriber_), rclcpp::WaitResultKind::Ready);
-
-  // process callbacks
-  rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
+  const auto timeout = std::chrono::milliseconds{10};
+  const auto until = controller_->get_node()->get_clock()->now() + timeout;
+  while (controller_->get_node()->get_clock()->now() < until)
+  {
+    executor.spin_some();
+    std::this_thread::sleep_for(std::chrono::microseconds(10));
+  }
 
   // update successful
   ASSERT_EQ(
diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.hpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.hpp
index 62a4d4e981..78b244847b 100644
--- a/forward_command_controller/test/test_multi_interface_forward_command_controller.hpp
+++ b/forward_command_controller/test/test_multi_interface_forward_command_controller.hpp
@@ -26,6 +26,7 @@
 #include "forward_command_controller/multi_interface_forward_command_controller.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
 
 using hardware_interface::CommandInterface;
 using hardware_interface::HW_IF_EFFORT;
@@ -77,6 +78,7 @@ class MultiInterfaceForwardCommandControllerTest : public ::testing::Test
   CommandInterface joint_1_pos_cmd_{joint_name_, HW_IF_POSITION, &pos_cmd_};
   CommandInterface joint_1_vel_cmd_{joint_name_, HW_IF_VELOCITY, &vel_cmd_};
   CommandInterface joint_1_eff_cmd_{joint_name_, HW_IF_EFFORT, &eff_cmd_};
+  rclcpp::executors::SingleThreadedExecutor executor;
 };
 
 #endif  // TEST_MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
index 0886748293..8a97f8a4cd 100644
--- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
+++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp
@@ -77,31 +77,39 @@ void IMUSensorBroadcasterTest::SetUpIMUBroadcaster()
 void IMUSensorBroadcasterTest::subscribe_and_get_message(sensor_msgs::msg::Imu & imu_msg)
 {
   // create a new subscriber
+  sensor_msgs::msg::Imu::SharedPtr received_msg;
   rclcpp::Node test_subscription_node("test_subscription_node");
-  auto subs_callback = [&](const sensor_msgs::msg::Imu::SharedPtr) {};
+  auto subs_callback = [&](const sensor_msgs::msg::Imu::SharedPtr msg) { received_msg = msg; };
   auto subscription = test_subscription_node.create_subscription<sensor_msgs::msg::Imu>(
     "/test_imu_sensor_broadcaster/imu", 10, subs_callback);
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(test_subscription_node.get_node_base_interface());
 
   // call update to publish the test value
   // since update doesn't guarantee a published message, republish until received
   int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-  rclcpp::WaitSet wait_set;          // block used to wait on message
-  wait_set.add_subscription(subscription);
   while (max_sub_check_loop_count--)
   {
     imu_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
+    const auto timeout = std::chrono::milliseconds{1};
+    const auto until = test_subscription_node.get_clock()->now() + timeout;
+    while (!received_msg && test_subscription_node.get_clock()->now() < until)
+    {
+      executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
+    }
     // check if message has been received
-    if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+    if (received_msg.get())
     {
       break;
     }
   }
   ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                             "controller/broadcaster update loop";
+  ASSERT_TRUE(received_msg);
 
   // take message from subscription
-  rclcpp::MessageInfo msg_info;
-  ASSERT_TRUE(subscription->take(imu_msg, msg_info));
+  imu_msg = *received_msg;
 }
 
 TEST_F(IMUSensorBroadcasterTest, SensorName_Configure_Success)
diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
index 04bf10089a..53a28a67a5 100644
--- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
+++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp
@@ -663,31 +663,41 @@ void JointStateBroadcasterTest::activate_and_get_joint_state_message(
   node_state = state_broadcaster_->get_node()->activate();
   ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
 
+  sensor_msgs::msg::JointState::SharedPtr received_msg;
   rclcpp::Node test_node("test_node");
-  auto subs_callback = [&](const sensor_msgs::msg::JointState::SharedPtr) {};
+  auto subs_callback = [&](const sensor_msgs::msg::JointState::SharedPtr msg)
+  { received_msg = msg; };
   auto subscription =
     test_node.create_subscription<sensor_msgs::msg::JointState>(topic, 10, subs_callback);
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(test_node.get_node_base_interface());
+
   // call update to publish the test value
   // since update doesn't guarantee a published message, republish until received
   int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-  rclcpp::WaitSet wait_set;          // block used to wait on message
-  wait_set.add_subscription(subscription);
   while (max_sub_check_loop_count--)
   {
     state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
+    const auto timeout = std::chrono::milliseconds{1};
+    const auto until = test_node.get_clock()->now() + timeout;
+    while (!received_msg && test_node.get_clock()->now() < until)
+    {
+      executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
+    }
     // check if message has been received
-    if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+    if (received_msg.get())
     {
       break;
     }
   }
   ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                             "controller/broadcaster update loop";
+  ASSERT_TRUE(received_msg);
 
   // take message from subscription
-  rclcpp::MessageInfo msg_info;
-  ASSERT_TRUE(subscription->take(joint_state_msg, msg_info));
+  joint_state_msg = *received_msg;
 }
 
 void JointStateBroadcasterTest::test_published_joint_state_message(const std::string & topic)
@@ -730,51 +740,58 @@ void JointStateBroadcasterTest::test_published_dynamic_joint_state_message(
   node_state = state_broadcaster_->get_node()->activate();
   ASSERT_EQ(node_state.id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
 
+  control_msgs::msg::DynamicJointState::SharedPtr dynamic_joint_state_msg;
   rclcpp::Node test_node("test_node");
-  auto subs_callback = [&](const control_msgs::msg::DynamicJointState::SharedPtr) {};
+  auto subs_callback = [&](const control_msgs::msg::DynamicJointState::SharedPtr msg)
+  { dynamic_joint_state_msg = msg; };
   auto subscription =
     test_node.create_subscription<control_msgs::msg::DynamicJointState>(topic, 10, subs_callback);
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(test_node.get_node_base_interface());
+  dynamic_joint_state_msg.reset();
+  ASSERT_FALSE(dynamic_joint_state_msg);
 
   // call update to publish the test value
   // since update doesn't guarantee a published message, republish until received
   int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-  rclcpp::WaitSet wait_set;          // block used to wait on message
-  wait_set.add_subscription(subscription);
   while (max_sub_check_loop_count--)
   {
     state_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
+    const auto timeout = std::chrono::milliseconds{1};
+    const auto until = test_node.get_clock()->now() + timeout;
+    while (test_node.get_clock()->now() < until)
+    {
+      executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
+    }
     // check if message has been received
-    if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+    if (dynamic_joint_state_msg.get())
     {
       break;
     }
   }
   ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                             "controller/broadcaster update loop";
-
-  // take message from subscription
-  control_msgs::msg::DynamicJointState dynamic_joint_state_msg;
-  rclcpp::MessageInfo msg_info;
-  ASSERT_TRUE(subscription->take(dynamic_joint_state_msg, msg_info));
+  ASSERT_TRUE(dynamic_joint_state_msg);
 
   const size_t NUM_JOINTS = 3;
   const std::vector<std::string> INTERFACE_NAMES = {HW_IF_POSITION, HW_IF_VELOCITY, HW_IF_EFFORT};
-  ASSERT_THAT(dynamic_joint_state_msg.joint_names, SizeIs(NUM_JOINTS));
+  ASSERT_THAT(dynamic_joint_state_msg->joint_names, SizeIs(NUM_JOINTS));
   // the order in the message may be different
   // we only check that all values in this test are present in the message
   // and that it is the same across the interfaces
   // for test purposes they are mapped to the same doubles
-  for (size_t i = 0; i < dynamic_joint_state_msg.joint_names.size(); ++i)
+  for (size_t i = 0; i < dynamic_joint_state_msg->joint_names.size(); ++i)
   {
     ASSERT_THAT(
-      dynamic_joint_state_msg.interface_values[i].interface_names,
+      dynamic_joint_state_msg->interface_values[i].interface_names,
       ElementsAreArray(INTERFACE_NAMES));
     const auto index_in_original_order = std::distance(
       joint_names_.cbegin(),
       std::find(
-        joint_names_.cbegin(), joint_names_.cend(), dynamic_joint_state_msg.joint_names[i]));
+        joint_names_.cbegin(), joint_names_.cend(), dynamic_joint_state_msg->joint_names[i]));
     ASSERT_THAT(
-      dynamic_joint_state_msg.interface_values[i].values,
+      dynamic_joint_state_msg->interface_values[i].values,
       Each(joint_values_[index_in_original_order]));
   }
 }
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
index a9109804e6..003480e9c9 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller.cpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -305,7 +305,7 @@ TEST_P(TrajectoryControllerTestParameterized, state_topic_consistency)
 {
   rclcpp::executors::SingleThreadedExecutor executor;
   SetUpAndActivateTrajectoryController(executor, {});
-  subscribeToState();
+  subscribeToState(executor);
   updateController();
 
   // Spin to receive latest state
@@ -519,7 +519,7 @@ TEST_P(TrajectoryControllerTestParameterized, position_error_not_angle_wraparoun
   std::vector<rclcpp::Parameter> params = {};
   bool angle_wraparound = false;
   SetUpAndActivateTrajectoryController(executor, params, true, k_p, 0.0, angle_wraparound);
-  subscribeToState();
+  subscribeToState(executor);
 
   size_t n_joints = joint_names_.size();
 
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index e3282b2c66..78ef8d120b 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -94,11 +94,6 @@ class TestableJointTrajectoryController
     const rclcpp_lifecycle::State & previous_state) override
   {
     auto ret = joint_trajectory_controller::JointTrajectoryController::on_configure(previous_state);
-    // this class can still be useful without the wait set
-    if (joint_command_subscriber_)
-    {
-      joint_cmd_sub_wait_set_.add_subscription(joint_command_subscriber_);
-    }
     return ret;
   }
 
@@ -106,19 +101,17 @@ class TestableJointTrajectoryController
    * @brief wait_for_trajectory block until a new JointTrajectory is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function
-   *
-   * @return true if new JointTrajectory msg was received, false if timeout
    */
-  bool wait_for_trajectory(
+  void wait_for_trajectory(
     rclcpp::Executor & executor,
-    const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
+    const std::chrono::milliseconds & timeout = std::chrono::milliseconds{10})
   {
-    bool success = joint_cmd_sub_wait_set_.wait(timeout).kind() == rclcpp::WaitResultKind::Ready;
-    if (success)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return success;
   }
 
   void set_joint_names(const std::vector<std::string> & joint_names)
@@ -195,7 +188,6 @@ class TestableJointTrajectoryController
   trajectory_msgs::msg::JointTrajectoryPoint get_state_reference() { return state_desired_; }
   trajectory_msgs::msg::JointTrajectoryPoint get_state_error() { return state_error_; }
 
-  rclcpp::WaitSet joint_cmd_sub_wait_set_;
 };
 
 class TrajectoryControllerTest : public ::testing::Test
@@ -392,7 +384,7 @@ class TrajectoryControllerTest : public ::testing::Test
         });
   }
 
-  void subscribeToState()
+  void subscribeToState(rclcpp::Executor & executor)
   {
     auto traj_lifecycle_node = traj_controller_->get_node();
     traj_lifecycle_node->set_parameter(
@@ -411,6 +403,14 @@ class TrajectoryControllerTest : public ::testing::Test
         std::lock_guard<std::mutex> guard(state_mutex_);
         state_msg_ = msg;
       });
+
+    const auto timeout = std::chrono::milliseconds{10};
+    const auto until = traj_lifecycle_node->get_clock()->now() + timeout;
+    while (traj_lifecycle_node->get_clock()->now() < until)
+    {
+      executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
+    }
   }
 
   /// Publish trajectory msgs with multiple points
diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp
index a44347f5f1..4e9601ae66 100644
--- a/pid_controller/test/test_pid_controller.cpp
+++ b/pid_controller/test/test_pid_controller.cpp
@@ -495,7 +495,7 @@ TEST_F(PidControllerTest, receive_message_and_publish_updated_status)
   }
 
   publish_commands();
-  ASSERT_TRUE(controller_->wait_for_commands(executor));
+  controller_->wait_for_commands(executor);
 
   for (size_t i = 0; i < controller_->reference_interfaces_.size(); ++i)
   {
diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp
index 24d04c2bc7..333d9b2d8f 100644
--- a/pid_controller/test/test_pid_controller.hpp
+++ b/pid_controller/test/test_pid_controller.hpp
@@ -65,13 +65,7 @@ class TestablePidController : public pid_controller::PidController
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override
   {
-    auto ret = pid_controller::PidController::on_configure(previous_state);
-    // Only if on_configure is successful create subscription
-    if (ret == CallbackReturn::SUCCESS)
-    {
-      ref_subscriber_wait_set_.add_subscription(ref_subscriber_);
-    }
-    return ret;
+    return pid_controller::PidController::on_configure(previous_state);
   }
 
   controller_interface::CallbackReturn on_activate(
@@ -85,30 +79,25 @@ class TestablePidController : public pid_controller::PidController
    * @brief wait_for_command blocks until a new ControllerCommandMsg is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function.
-   *
-   * @return true if new ControllerCommandMsg msg was received, false if timeout.
    */
-  bool wait_for_command(
-    rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set,
+  void wait_for_command(
+    rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready;
-    if (success)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return success;
   }
 
-  bool wait_for_commands(
+  void wait_for_commands(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    return wait_for_command(executor, ref_subscriber_wait_set_, timeout);
+    wait_for_command(executor, timeout);
   }
-
-private:
-  rclcpp::WaitSet ref_subscriber_wait_set_;
 };
 
 // We are using template class here for easier reuse of Fixture in specializations of controllers
@@ -182,36 +171,43 @@ class PidControllerFixture : public ::testing::Test
   void subscribe_and_get_messages(ControllerStateMsg & msg)
   {
     // create a new subscriber
+    ControllerStateMsg::SharedPtr received_msg;
     rclcpp::Node test_subscription_node("test_subscription_node");
-    auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {};
+    auto subs_callback = [&](const ControllerStateMsg::SharedPtr cb_msg) { received_msg = cb_msg; };
     auto subscription = test_subscription_node.create_subscription<ControllerStateMsg>(
       "/test_pid_controller/controller_state", 10, subs_callback);
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(test_subscription_node.get_node_base_interface());
 
     // call update to publish the test value
     ASSERT_EQ(
-      controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),
+      controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
       controller_interface::return_type::OK);
-
     // call update to publish the test value
     // since update doesn't guarantee a published message, republish until received
     int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-    rclcpp::WaitSet wait_set;          // block used to wait on message
-    wait_set.add_subscription(subscription);
     while (max_sub_check_loop_count--)
     {
-      controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
+      controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
+      const auto timeout = std::chrono::milliseconds{1};
+      const auto until = test_subscription_node.get_clock()->now() + timeout;
+      while (!received_msg && test_subscription_node.get_clock()->now() < until)
+      {
+        executor.spin_some();
+        std::this_thread::sleep_for(std::chrono::microseconds(10));
+      }
       // check if message has been received
-      if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+      if (received_msg.get())
       {
         break;
       }
     }
     ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                               "controller/broadcaster update loop";
+    ASSERT_TRUE(received_msg);
 
     // take message from subscription
-    rclcpp::MessageInfo msg_info;
-    ASSERT_TRUE(subscription->take(msg, msg_info));
+    msg = *received_msg;
   }
 
   void publish_commands(
diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
index a712cc81c2..39fd30585a 100644
--- a/position_controllers/test/test_joint_group_position_controller.cpp
+++ b/position_controllers/test/test_joint_group_position_controller.cpp
@@ -30,17 +30,6 @@
 using CallbackReturn = controller_interface::CallbackReturn;
 using hardware_interface::LoanedCommandInterface;
 
-namespace
-{
-rclcpp::WaitResultKind wait_for(rclcpp::SubscriptionBase::SharedPtr subscription)
-{
-  rclcpp::WaitSet wait_set;
-  wait_set.add_subscription(subscription);
-  const auto timeout = std::chrono::seconds(10);
-  return wait_set.wait(timeout).kind();
-}
-}  // namespace
-
 void JointGroupPositionControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
 
 void JointGroupPositionControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
@@ -62,6 +51,7 @@ void JointGroupPositionControllerTest::SetUpController()
   command_ifs.emplace_back(joint_2_pos_cmd_);
   command_ifs.emplace_back(joint_3_pos_cmd_);
   controller_->assign_interfaces(std::move(command_ifs), {});
+  executor.add_node(controller_->get_node()->get_node_base_interface());
 }
 
 TEST_F(JointGroupPositionControllerTest, JointsParameterNotSet)
@@ -203,10 +193,13 @@ TEST_F(JointGroupPositionControllerTest, CommandCallbackTest)
   command_pub->publish(command_msg);
 
   // wait for command message to be passed
-  ASSERT_EQ(wait_for(controller_->joints_command_subscriber_), rclcpp::WaitResultKind::Ready);
-
-  // process callbacks
-  rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
+  const auto timeout = std::chrono::milliseconds{10};
+  const auto until = controller_->get_node()->get_clock()->now() + timeout;
+  while (controller_->get_node()->get_clock()->now() < until)
+  {
+    executor.spin_some();
+    std::this_thread::sleep_for(std::chrono::microseconds(10));
+  }
 
   // update successful
   ASSERT_EQ(
diff --git a/position_controllers/test/test_joint_group_position_controller.hpp b/position_controllers/test/test_joint_group_position_controller.hpp
index 93149d8e19..c7d704db52 100644
--- a/position_controllers/test/test_joint_group_position_controller.hpp
+++ b/position_controllers/test/test_joint_group_position_controller.hpp
@@ -24,6 +24,7 @@
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "position_controllers/joint_group_position_controller.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
 
 using hardware_interface::CommandInterface;
 using hardware_interface::HW_IF_POSITION;
@@ -58,6 +59,7 @@ class JointGroupPositionControllerTest : public ::testing::Test
   CommandInterface joint_1_pos_cmd_{joint_names_[0], HW_IF_POSITION, &joint_commands_[0]};
   CommandInterface joint_2_pos_cmd_{joint_names_[1], HW_IF_POSITION, &joint_commands_[1]};
   CommandInterface joint_3_pos_cmd_{joint_names_[2], HW_IF_POSITION, &joint_commands_[2]};
+  rclcpp::executors::SingleThreadedExecutor executor;
 };
 
 #endif  // TEST_JOINT_GROUP_POSITION_CONTROLLER_HPP_
diff --git a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
index c1b50c6982..fb7c376224 100644
--- a/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
+++ b/range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp
@@ -65,31 +65,39 @@ controller_interface::CallbackReturn RangeSensorBroadcasterTest::configure_broad
 void RangeSensorBroadcasterTest::subscribe_and_get_message(sensor_msgs::msg::Range & range_msg)
 {
   // create a new subscriber
+  sensor_msgs::msg::Range::SharedPtr received_msg;
   rclcpp::Node test_subscription_node("test_subscription_node");
-  auto subs_callback = [&](const sensor_msgs::msg::Range::SharedPtr) {};
+  auto subs_callback = [&](const sensor_msgs::msg::Range::SharedPtr msg) { received_msg = msg; };
   auto subscription = test_subscription_node.create_subscription<sensor_msgs::msg::Range>(
     "/test_range_sensor_broadcaster/range", 10, subs_callback);
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(test_subscription_node.get_node_base_interface());
 
   // call update to publish the test value
   // since update doesn't guarantee a published message, republish until received
   int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-  rclcpp::WaitSet wait_set;          // block used to wait on message
-  wait_set.add_subscription(subscription);
   while (max_sub_check_loop_count--)
   {
     range_broadcaster_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
+    const auto timeout = std::chrono::milliseconds{1};
+    const auto until = test_subscription_node.get_clock()->now() + timeout;
+    while (!received_msg && test_subscription_node.get_clock()->now() < until)
+    {
+      executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
+    }
     // check if message has been received
-    if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+    if (received_msg.get())
     {
       break;
     }
   }
   ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                             "controller/broadcaster update loop";
+  ASSERT_TRUE(received_msg);
 
   // take message from subscription
-  rclcpp::MessageInfo msg_info;
-  ASSERT_TRUE(subscription->take(range_msg, msg_info));
+  range_msg = *received_msg;
 }
 
 TEST_F(RangeSensorBroadcasterTest, Initialize_RangeBroadcaster_Exception)
diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp
index edc4575176..723645f6d5 100644
--- a/steering_controllers_library/test/test_steering_controllers_library.hpp
+++ b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -80,14 +80,7 @@ class TestableSteeringControllersLibrary
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override
   {
-    auto ret =
-      steering_controllers_library::SteeringControllersLibrary::on_configure(previous_state);
-    // Only if on_configure is successful create subscription
-    if (ret == CallbackReturn::SUCCESS)
-    {
-      ref_subscriber_wait_set_.add_subscription(ref_subscriber_twist_);
-    }
-    return ret;
+    return steering_controllers_library::SteeringControllersLibrary::on_configure(previous_state);
   }
 
   controller_interface::CallbackReturn on_activate(
@@ -101,26 +94,24 @@ class TestableSteeringControllersLibrary
    * @brief wait_for_command blocks until a new ControllerReferenceMsg is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function.
-   *
-   * @return true if new ControllerReferenceMsg msg was received, false if timeout.
    */
-  bool wait_for_command(
-    rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set,
+  void wait_for_command(
+    rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready;
-    if (success)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return success;
   }
 
-  bool wait_for_commands(
+  void wait_for_commands(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    return wait_for_command(executor, ref_subscriber_wait_set_, timeout);
+    wait_for_command(executor, timeout);
   }
 
   // implementing methods which are declared virtual in the steering_controllers_library.hpp
@@ -139,9 +130,6 @@ class TestableSteeringControllersLibrary
   }
 
   bool update_odometry(const rclcpp::Duration & /*period*/) { return true; }
-
-private:
-  rclcpp::WaitSet ref_subscriber_wait_set_;
 };
 
 // We are using template class here for easier reuse of Fixture in specializations of controllers
@@ -233,36 +221,43 @@ class SteeringControllersLibraryFixture : public ::testing::Test
   void subscribe_and_get_messages(ControllerStateMsg & msg)
   {
     // create a new subscriber
+    ControllerStateMsg::SharedPtr received_msg;
     rclcpp::Node test_subscription_node("test_subscription_node");
-    auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {};
+    auto subs_callback = [&](const ControllerStateMsg::SharedPtr cb_msg) { received_msg = cb_msg; };
     auto subscription = test_subscription_node.create_subscription<ControllerStateMsg>(
       "/test_steering_controllers_library/controller_state", 10, subs_callback);
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(test_subscription_node.get_node_base_interface());
 
     // call update to publish the test value
     ASSERT_EQ(
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
       controller_interface::return_type::OK);
-
     // call update to publish the test value
     // since update doesn't guarantee a published message, republish until received
     int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-    rclcpp::WaitSet wait_set;          // block used to wait on message
-    wait_set.add_subscription(subscription);
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
+      const auto timeout = std::chrono::milliseconds{1};
+      const auto until = test_subscription_node.get_clock()->now() + timeout;
+      while (!received_msg && test_subscription_node.get_clock()->now() < until)
+      {
+        executor.spin_some();
+        std::this_thread::sleep_for(std::chrono::microseconds(10));
+      }
       // check if message has been received
-      if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+      if (received_msg.get())
       {
         break;
       }
     }
     ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                               "controller/broadcaster update loop";
+    ASSERT_TRUE(received_msg);
 
     // take message from subscription
-    rclcpp::MessageInfo msg_info;
-    ASSERT_TRUE(subscription->take(msg, msg_info));
+    msg = *received_msg;
   }
 
   void publish_commands(const double linear = 0.1, const double angular = 0.2)
diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp
index 2355425f10..554663eaa5 100644
--- a/tricycle_controller/test/test_tricycle_controller.cpp
+++ b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -56,22 +56,17 @@ class TestableTricycleController : public tricycle_controller::TricycleControlle
    * @brief wait_for_twist block until a new twist is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function
-   *
-   * @return true if new twist msg was received, false if timeout
    */
-  bool wait_for_twist(
+  void wait_for_twist(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds(500))
   {
-    rclcpp::WaitSet wait_set;
-    wait_set.add_subscription(velocity_command_subscriber_);
-
-    if (wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
-      return true;
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return false;
   }
 };
 
@@ -333,7 +328,7 @@ TEST_F(TestTricycleController, correct_initialization_using_parameters)
   const double angular = 0.0;
   publish(linear, angular);
   // wait for msg is be published to the system
-  ASSERT_TRUE(controller_->wait_for_twist(executor));
+  controller_->wait_for_twist(executor);
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
index 328f5e4d6a..ad7f80607f 100644
--- a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
+++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp
@@ -241,7 +241,7 @@ TEST_F(TricycleSteeringControllerTest, receive_message_and_publish_updated_statu
   EXPECT_EQ(msg.steering_angle_command[0], 2.2);
 
   publish_commands();
-  ASSERT_TRUE(controller_->wait_for_commands(executor));
+  controller_->wait_for_commands(executor);
 
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
index 278994a4f3..7a036d14f0 100644
--- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
+++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -75,14 +75,7 @@ class TestableTricycleSteeringController
   controller_interface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override
   {
-    auto ret =
-      tricycle_steering_controller::TricycleSteeringController::on_configure(previous_state);
-    // Only if on_configure is successful create subscription
-    if (ret == CallbackReturn::SUCCESS)
-    {
-      ref_subscriber_wait_set_.add_subscription(ref_subscriber_twist_);
-    }
-    return ret;
+    return tricycle_steering_controller::TricycleSteeringController::on_configure(previous_state);
   }
 
   controller_interface::CallbackReturn on_activate(
@@ -96,30 +89,25 @@ class TestableTricycleSteeringController
    * @brief wait_for_command blocks until a new ControllerReferenceMsg is received.
    * Requires that the executor is not spinned elsewhere between the
    *  message publication and the call to this function.
-   *
-   * @return true if new ControllerReferenceMsg msg was received, false if timeout.
    */
-  bool wait_for_command(
-    rclcpp::Executor & executor, rclcpp::WaitSet & subscriber_wait_set,
+  void wait_for_command(
+    rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready;
-    if (success)
+    auto until = get_node()->get_clock()->now() + timeout;
+    while (get_node()->get_clock()->now() < until)
     {
       executor.spin_some();
+      std::this_thread::sleep_for(std::chrono::microseconds(10));
     }
-    return success;
   }
 
-  bool wait_for_commands(
+  void wait_for_commands(
     rclcpp::Executor & executor,
     const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500})
   {
-    return wait_for_command(executor, ref_subscriber_wait_set_, timeout);
+    return wait_for_command(executor, timeout);
   }
-
-private:
-  rclcpp::WaitSet ref_subscriber_wait_set_;
 };
 
 // We are using template class here for easier reuse of Fixture in specializations of controllers
@@ -199,34 +187,43 @@ class TricycleSteeringControllerFixture : public ::testing::Test
   void subscribe_and_get_messages(ControllerStateMsg & msg)
   {
     // create a new subscriber
+    ControllerStateMsg::SharedPtr received_msg;
     rclcpp::Node test_subscription_node("test_subscription_node");
-    auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {};
+    auto subs_callback = [&](const ControllerStateMsg::SharedPtr cb_msg) { received_msg = cb_msg; };
     auto subscription = test_subscription_node.create_subscription<ControllerStateMsg>(
       "/test_tricycle_steering_controller/controller_state", 10, subs_callback);
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(test_subscription_node.get_node_base_interface());
 
     // call update to publish the test value
     ASSERT_EQ(
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
       controller_interface::return_type::OK);
+    // call update to publish the test value
     // since update doesn't guarantee a published message, republish until received
     int max_sub_check_loop_count = 5;  // max number of tries for pub/sub loop
-    rclcpp::WaitSet wait_set;          // block used to wait on message
-    wait_set.add_subscription(subscription);
     while (max_sub_check_loop_count--)
     {
       controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01));
+      const auto timeout = std::chrono::milliseconds{1};
+      const auto until = test_subscription_node.get_clock()->now() + timeout;
+      while (!received_msg && test_subscription_node.get_clock()->now() < until)
+      {
+        executor.spin_some();
+        std::this_thread::sleep_for(std::chrono::microseconds(10));
+      }
       // check if message has been received
-      if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready)
+      if (received_msg.get())
       {
         break;
       }
     }
     ASSERT_GE(max_sub_check_loop_count, 0) << "Test was unable to publish a message through "
                                               "controller/broadcaster update loop";
+    ASSERT_TRUE(received_msg);
 
     // take message from subscription
-    rclcpp::MessageInfo msg_info;
-    ASSERT_TRUE(subscription->take(msg, msg_info));
+    msg = *received_msg;
   }
 
   void publish_commands(const double linear = 0.1, const double angular = 0.2)
diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
index 43c1545461..be3e5cc1ba 100644
--- a/velocity_controllers/test/test_joint_group_velocity_controller.cpp
+++ b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
@@ -30,17 +30,6 @@
 using CallbackReturn = controller_interface::CallbackReturn;
 using hardware_interface::LoanedCommandInterface;
 
-namespace
-{
-rclcpp::WaitResultKind wait_for(rclcpp::SubscriptionBase::SharedPtr subscription)
-{
-  rclcpp::WaitSet wait_set;
-  wait_set.add_subscription(subscription);
-  const auto timeout = std::chrono::seconds(10);
-  return wait_set.wait(timeout).kind();
-}
-}  // namespace
-
 void JointGroupVelocityControllerTest::SetUpTestCase() { rclcpp::init(0, nullptr); }
 
 void JointGroupVelocityControllerTest::TearDownTestCase() { rclcpp::shutdown(); }
@@ -62,6 +51,7 @@ void JointGroupVelocityControllerTest::SetUpController()
   command_ifs.emplace_back(joint_2_cmd_);
   command_ifs.emplace_back(joint_3_cmd_);
   controller_->assign_interfaces(std::move(command_ifs), {});
+  executor.add_node(controller_->get_node()->get_node_base_interface());
 }
 
 TEST_F(JointGroupVelocityControllerTest, JointsParameterNotSet)
@@ -203,10 +193,13 @@ TEST_F(JointGroupVelocityControllerTest, CommandCallbackTest)
   command_pub->publish(command_msg);
 
   // wait for command message to be passed
-  ASSERT_EQ(wait_for(controller_->joints_command_subscriber_), rclcpp::WaitResultKind::Ready);
-
-  // process callbacks
-  rclcpp::spin_some(controller_->get_node()->get_node_base_interface());
+  const auto timeout = std::chrono::milliseconds{10};
+  const auto until = controller_->get_node()->get_clock()->now() + timeout;
+  while (controller_->get_node()->get_clock()->now() < until)
+  {
+    executor.spin_some();
+    std::this_thread::sleep_for(std::chrono::microseconds(10));
+  }
 
   // update successful
   ASSERT_EQ(
diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.hpp b/velocity_controllers/test/test_joint_group_velocity_controller.hpp
index e94f7f082d..3078359028 100644
--- a/velocity_controllers/test/test_joint_group_velocity_controller.hpp
+++ b/velocity_controllers/test/test_joint_group_velocity_controller.hpp
@@ -23,6 +23,7 @@
 
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
 #include "velocity_controllers/joint_group_velocity_controller.hpp"
 
 using hardware_interface::CommandInterface;
@@ -58,6 +59,7 @@ class JointGroupVelocityControllerTest : public ::testing::Test
   CommandInterface joint_1_cmd_{joint_names_[0], HW_IF_VELOCITY, &joint_commands_[0]};
   CommandInterface joint_2_cmd_{joint_names_[1], HW_IF_VELOCITY, &joint_commands_[1]};
   CommandInterface joint_3_cmd_{joint_names_[2], HW_IF_VELOCITY, &joint_commands_[2]};
+  rclcpp::executors::SingleThreadedExecutor executor;
 };
 
 #endif  // TEST_JOINT_GROUP_VELOCITY_CONTROLLER_HPP_