diff --git a/ros/kxr_controller/CMakeLists.txt b/ros/kxr_controller/CMakeLists.txt
index e4b56837..4e8a6e24 100644
--- a/ros/kxr_controller/CMakeLists.txt
+++ b/ros/kxr_controller/CMakeLists.txt
@@ -140,6 +140,6 @@ if(CATKIN_ENABLE_TESTING)
   endif()
   add_rostest(test/kxr_controller.test ARGS namespace:="")
   add_rostest(test/kxr_controller.test ARGS namespace:="robot_a")
-  add_rostest(test/kxr_controller.test ARGS namespace:="" use_rcb4:=true)
-  add_rostest(test/kxr_controller.test ARGS namespace:="robot_a" use_rcb4:=true)
+  add_rostest(test/kxr_controller.test ARGS namespace:="" use_rcb4:=true frame_count:=5)
+  add_rostest(test/kxr_controller.test ARGS namespace:="robot_a" use_rcb4:=true frame_count:=5)
 endif()