diff --git a/launch_testing/launch_testing/__init__.py b/launch_testing/launch_testing/__init__.py
index 6ccb68b9e..4de833c3f 100644
--- a/launch_testing/launch_testing/__init__.py
+++ b/launch_testing/launch_testing/__init__.py
@@ -18,6 +18,7 @@
 from .parametrize import parametrize
 from .proc_info_handler import ActiveProcInfoHandler, ProcInfoHandler
 from .ready_aggregator import ReadyAggregator
+from .ready_to_test_action_timeout import ready_to_test_action_timeout
 
 
 __all__ = [
@@ -27,6 +28,7 @@
     # Functions
     'parametrize',
     'post_shutdown_test',
+    'ready_to_test_action_timeout',
 
     # Classes
     'ActiveIoHandler',
diff --git a/launch_testing/launch_testing/loader.py b/launch_testing/launch_testing/loader.py
index 9c5698c04..ceb13ae9d 100644
--- a/launch_testing/launch_testing/loader.py
+++ b/launch_testing/launch_testing/loader.py
@@ -93,6 +93,13 @@ def __init__(self,
         self.pre_shutdown_tests = pre_shutdown_tests
         self.post_shutdown_tests = post_shutdown_tests
 
+        #  Duration for which the ReadyToTest action waits for the processes
+        #  to start up, 15 seconds by default
+        self.timeout = 15
+
+        if hasattr(test_description_function, '__ready_to_test_action_timeout__'):
+            self.timeout = getattr(test_description_function, '__ready_to_test_action_timeout__')
+
         # If we're parametrized, extend the test names so we can tell more easily what
         # params they were run with
         if self.param_args:
diff --git a/launch_testing/launch_testing/parametrize.py b/launch_testing/launch_testing/parametrize.py
index 38782af61..d7e9d26c7 100644
--- a/launch_testing/launch_testing/parametrize.py
+++ b/launch_testing/launch_testing/parametrize.py
@@ -44,7 +44,12 @@ def _wrapped():
                 partial = functools.partial(func, **partial_args)
                 functools.update_wrapper(partial, func)
                 yield partial, partial_args
+
         _wrapped.__parametrized__ = True
+        if hasattr(func, '__ready_to_test_action_timeout__'):
+            _wrapped.__ready_to_test_action_timeout__ = \
+                getattr(func, '__ready_to_test_action_timeout__')
+
         return _wrapped
 
     return _decorator
diff --git a/launch_testing/launch_testing/ready_to_test_action_timeout.py b/launch_testing/launch_testing/ready_to_test_action_timeout.py
new file mode 100644
index 000000000..c5259d55e
--- /dev/null
+++ b/launch_testing/launch_testing/ready_to_test_action_timeout.py
@@ -0,0 +1,30 @@
+# Copyright 2022 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+def ready_to_test_action_timeout(timeout):
+    """
+    Decorate a test launch description in a way that it adds ReadyToTest action timeout.
+
+    attribute to the function being decorated.
+
+    :param: timeout Duration for which the ReadyToTest action waits for processes to start up
+
+    """
+
+    def _decorator(func):
+        func.__ready_to_test_action_timeout__ = timeout
+        return func
+
+    return _decorator
diff --git a/launch_testing/launch_testing/test_runner.py b/launch_testing/launch_testing/test_runner.py
index ecd7c4229..5a1de18b7 100644
--- a/launch_testing/launch_testing/test_runner.py
+++ b/launch_testing/launch_testing/test_runner.py
@@ -48,6 +48,10 @@ def __init__(self,
         self._tests_completed = threading.Event()  # To signal when all the tests have finished
         self._launch_file_arguments = launch_file_arguments
 
+        #  Duration for which the ReadyToTest action waits for the processes
+        #  to start up, 15 seconds by default
+        self.timeout = self._test_run.timeout
+
         # Can't run LaunchService.run on another thread :-(
         # See https://github.com/ros2/launch/issues/126
         #
@@ -181,7 +185,7 @@ def _run_test(self):
         # Waits for the DUT processes to start (signaled by the _processes_launched
         # event) and then runs the tests
 
-        if not self._processes_launched.wait(timeout=15):
+        if not self._processes_launched.wait(self.timeout):
             # Timed out waiting for the processes to start
             print('Timed out waiting for processes to start up')
             self._launch_service.shutdown()
diff --git a/launch_testing/test/launch_testing/examples/ready_to_test_action_timeout_test.py b/launch_testing/test/launch_testing/examples/ready_to_test_action_timeout_test.py
new file mode 100644
index 000000000..5b401b21e
--- /dev/null
+++ b/launch_testing/test/launch_testing/examples/ready_to_test_action_timeout_test.py
@@ -0,0 +1,47 @@
+# Copyright 2022 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+import launch
+from launch.actions import TimerAction
+import launch_testing
+from launch_testing.actions import ReadyToTest
+
+import pytest
+
+
+# The ReadyToTest action waits for 15 second by default for the processes to
+# start, if processes take more time an error is thrown. We use decorator here
+# to provide timeout duration of 20 second so that processes that take longer than
+# 15 seconds can start up.
+
+@pytest.mark.launch_test
+@launch_testing.ready_to_test_action_timeout(20)
+def generate_test_description():
+    # takes 15 sec for the TimerAction process to start
+    return launch.LaunchDescription([
+        launch_testing.util.KeepAliveProc(),
+        TimerAction(period=15.0, actions=[ReadyToTest()]),
+    ])
+
+
+# the process should exit cleanly now since the process takes 15 second
+# to start and timeout duration of ReadyToTest action is 20 seconds.
+@launch_testing.post_shutdown_test()
+class TestHelloWorldShutdown(unittest.TestCase):
+
+    def test_exit_codes(self, proc_info):
+        """Check if the processes exited normally."""
+        launch_testing.asserts.assertExitCodes(proc_info)
diff --git a/launch_testing/test/launch_testing/test_ready_to_test_action_decorator.py b/launch_testing/test/launch_testing/test_ready_to_test_action_decorator.py
new file mode 100644
index 000000000..3efa33348
--- /dev/null
+++ b/launch_testing/test/launch_testing/test_ready_to_test_action_decorator.py
@@ -0,0 +1,49 @@
+# Copyright 2022 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import launch_testing
+
+
+def test_ready_to_test_action_attribute():
+
+    @launch_testing.ready_to_test_action_timeout(10)
+    def fake_test_description(arg):
+        pass  # pragma: no cover
+
+    assert hasattr(fake_test_description, '__ready_to_test_action_timeout__')
+    assert getattr(fake_test_description, '__ready_to_test_action_timeout__') == 10
+
+
+def test_parametrize_and_ready_to_test_action_attribute():
+
+    @launch_testing.parametrize('val', [1, 2, 3])
+    @launch_testing.ready_to_test_action_timeout(10)
+    def fake_test_description(arg):
+        pass  # pragma: no cover
+
+    assert hasattr(fake_test_description, '__parametrized__')
+    assert hasattr(fake_test_description, '__ready_to_test_action_timeout__')
+    assert getattr(fake_test_description, '__ready_to_test_action_timeout__') == 10
+
+
+def test_ready_to_test_action_and_parametrize_attribute():
+
+    @launch_testing.ready_to_test_action_timeout(10)
+    @launch_testing.parametrize('val', [1, 2, 3])
+    def fake_test_description(arg):
+        pass  # pragma: no cover
+
+    assert hasattr(fake_test_description, '__parametrized__')
+    assert hasattr(fake_test_description, '__ready_to_test_action_timeout__')
+    assert getattr(fake_test_description, '__ready_to_test_action_timeout__') == 10