diff --git a/controller_manager/test/controller_manager_test_common.hpp b/controller_manager/test/controller_manager_test_common.hpp
index 4dbe5ab966..7bf5cae628 100644
--- a/controller_manager/test/controller_manager_test_common.hpp
+++ b/controller_manager/test/controller_manager_test_common.hpp
@@ -100,6 +100,7 @@ class ControllerManagerFixture : public ::testing::Test
         cm_->robot_description_callback(msg);
       }
     }
+    time_ = rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type());
   }
 
   static void SetUpTestCase() { rclcpp::init(0, nullptr); }
@@ -118,9 +119,7 @@ class ControllerManagerFixture : public ::testing::Test
       {
         while (run_updater_)
         {
-          cm_->update(
-            rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-            rclcpp::Duration::from_seconds(0.01));
+          cm_->update(time_, rclcpp::Duration::from_seconds(0.01));
           std::this_thread::sleep_for(std::chrono::milliseconds(10));
         }
       });
@@ -158,6 +157,7 @@ class ControllerManagerFixture : public ::testing::Test
   bool run_updater_;
   const std::string robot_description_;
   const bool pass_urdf_as_parameter_;
+  rclcpp::Time time_;
 };
 
 class TestControllerManagerSrvs
@@ -178,15 +178,9 @@ class TestControllerManagerSrvs
       std::chrono::milliseconds(10),
       [&]()
       {
-        cm_->read(
-          rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-          PERIOD);
-        cm_->update(
-          rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-          PERIOD);
-        cm_->write(
-          rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-          PERIOD);
+        cm_->read(time_, PERIOD);
+        cm_->update(time_, PERIOD);
+        cm_->write(time_, PERIOD);
       });
 
     executor_->add_node(cm_);
@@ -213,9 +207,7 @@ class TestControllerManagerSrvs
       while (service_executor.spin_until_future_complete(result, std::chrono::milliseconds(50)) !=
              rclcpp::FutureReturnCode::SUCCESS)
       {
-        cm_->update(
-          rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-          rclcpp::Duration::from_seconds(0.01));
+        cm_->update(time_, rclcpp::Duration::from_seconds(0.01));
       }
     }
     else
diff --git a/controller_manager/test/test_controller_manager.cpp b/controller_manager/test/test_controller_manager.cpp
index 4e3b8b470d..e317726585 100644
--- a/controller_manager/test/test_controller_manager.cpp
+++ b/controller_manager/test/test_controller_manager.cpp
@@ -96,9 +96,7 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller->internal_counter)
     << "Update should not reach an unconfigured controller";
 
@@ -110,9 +108,7 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
   cm_->configure_controller(TEST_CONTROLLER2_NAME);
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
   EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is not started";
 
@@ -127,9 +123,7 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller2->internal_counter) << "Controller is started at the end of update";
   {
     ControllerManagerRunner cm_runner(this);
@@ -138,9 +132,7 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_GE(test_controller2->internal_counter, test_param.expected_counter);
 
   // Start the real test controller, will take effect at the end of the update function
@@ -155,9 +147,7 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
   {
     ControllerManagerRunner cm_runner(this);
@@ -167,9 +157,7 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_GE(test_controller->internal_counter, 1u);
   size_t last_internal_counter = test_controller->internal_counter;
 
@@ -185,9 +173,7 @@ TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(last_internal_counter + 1u, test_controller->internal_counter)
     << "Controller is stopped at the end of update, so it should have done one more update";
   {
@@ -222,9 +208,7 @@ TEST_P(TestControllerManagerWithStrictness, per_controller_update_rate)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller->internal_counter)
     << "Update should not reach an unconfigured controller";
 
@@ -236,9 +220,7 @@ TEST_P(TestControllerManagerWithStrictness, per_controller_update_rate)
   cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
 
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_controller->get_state().id());
@@ -255,9 +237,7 @@ TEST_P(TestControllerManagerWithStrictness, per_controller_update_rate)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
   {
     ControllerManagerRunner cm_runner(this);
@@ -271,9 +251,7 @@ TEST_P(TestControllerManagerWithStrictness, per_controller_update_rate)
   {
     EXPECT_EQ(
       controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        rclcpp::Duration::from_seconds(0.01)));
+      cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   }
   EXPECT_GE(test_controller->internal_counter, 1u);
   EXPECT_EQ(test_controller->get_update_rate(), 4u);
@@ -308,9 +286,7 @@ TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_upd
   EXPECT_EQ(2, test_controller.use_count());
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(last_internal_counter, test_controller->internal_counter)
     << "Update should not reach an unconfigured controller";
 
@@ -323,9 +299,7 @@ TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_upd
   cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(last_internal_counter, test_controller->internal_counter)
     << "Controller is not started";
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_controller->get_state().id());
@@ -342,9 +316,7 @@ TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_upd
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(last_internal_counter, test_controller->internal_counter)
     << "Controller is started at the end of update";
   {
@@ -360,9 +332,7 @@ TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_upd
   {
     EXPECT_EQ(
       controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        rclcpp::Duration::from_seconds(0.01)));
+      cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
     loop_rate.sleep();
   }
   // if we do 2 times of the controller_manager update rate, the internal counter should be
@@ -378,10 +348,7 @@ TEST_P(TestControllerManagerWithUpdateRates, per_controller_equal_and_higher_upd
     << "switch_controller should be blocking until next update cycle";
 
   EXPECT_EQ(
-    controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)))
+    controller_interface::return_type::OK, cm_->update(time_, rclcpp::Duration::from_seconds(0.01)))
     << "Controller is stopped at the end of update, so it should have done one more update";
   {
     ControllerManagerRunner cm_runner(this);
@@ -425,9 +392,7 @@ TEST_P(TestControllerUpdateRates, check_the_controller_update_rate)
   cm_->configure_controller(test_controller::TEST_CONTROLLER_NAME);
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is not started";
 
   EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_controller->get_state().id());
@@ -445,9 +410,7 @@ TEST_P(TestControllerUpdateRates, check_the_controller_update_rate)
 
   EXPECT_EQ(
     controller_interface::return_type::OK,
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01)));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01)));
   EXPECT_EQ(0u, test_controller->internal_counter) << "Controller is started at the end of update";
   {
     ControllerManagerRunner cm_runner(this);
@@ -461,8 +424,7 @@ TEST_P(TestControllerUpdateRates, check_the_controller_update_rate)
   const auto controller_update_rate = test_controller->get_update_rate();
 
   const auto initial_counter = test_controller->internal_counter;
-  rclcpp::Time time =
-    rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type());
+  rclcpp::Time time = time_;
   for (size_t update_counter = 0; update_counter <= 10 * cm_update_rate; ++update_counter)
   {
     EXPECT_EQ(
diff --git a/controller_manager/test/test_controller_manager_hardware_error_handling.cpp b/controller_manager/test/test_controller_manager_hardware_error_handling.cpp
index 0830b0638a..20af889c81 100644
--- a/controller_manager/test/test_controller_manager_hardware_error_handling.cpp
+++ b/controller_manager/test/test_controller_manager_hardware_error_handling.cpp
@@ -138,11 +138,7 @@ class TestControllerManagerWithTestableCM
     cm_->configure_controller(TEST_BROADCASTER_ALL_NAME);
     cm_->configure_controller(TEST_BROADCASTER_SENSOR_NAME);
 
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(0u, test_controller_actuator->internal_counter) << "Controller is not started";
     EXPECT_EQ(0u, test_controller_system->internal_counter) << "Controller is not started";
     EXPECT_EQ(0u, test_broadcaster_all->internal_counter) << "Controller is not started";
@@ -230,11 +226,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_er
     hardware_interface::lifecycle_state_names::ACTIVE);
 
   {
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_GE(test_controller_actuator->internal_counter, 1u)
       << "Controller is started at the end of update";
     EXPECT_GE(test_controller_system->internal_counter, 1u)
@@ -257,11 +249,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_er
   // Execute first time without any errors
   {
     auto new_counter = test_controller_actuator->internal_counter + 1;
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(test_controller_actuator->internal_counter, new_counter) << "Execute without errors";
     EXPECT_EQ(test_controller_system->internal_counter, new_counter) << "Execute without errors";
     EXPECT_EQ(test_broadcaster_all->internal_counter, new_counter) << "Execute without errors";
@@ -273,11 +261,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_er
   test_controller_actuator->set_first_command_interface_value_to = READ_FAIL_VALUE;
   {
     auto new_counter = test_controller_actuator->internal_counter + 1;
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(test_controller_actuator->internal_counter, new_counter)
       << "Execute without errors to write value";
     EXPECT_EQ(test_controller_system->internal_counter, new_counter)
@@ -294,8 +278,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_er
 
     // here happens error in hardware and
     // "actuator controller" and "broadcaster all" are deactivated
-    EXPECT_NO_THROW(cm_->read(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()), PERIOD));
+    EXPECT_NO_THROW(cm_->read(time_, PERIOD));
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
       test_controller_actuator->get_state().id());
@@ -306,11 +289,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_er
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_sensor->get_state().id());
 
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter)
       << "Execute has read error and it is not updated";
     EXPECT_EQ(test_controller_system->internal_counter, new_counter)
@@ -354,11 +333,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_er
     auto previous_counter_lower = test_controller_actuator->internal_counter + 1;
     auto previous_counter_higher = test_controller_system->internal_counter + 1;
 
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
 
     EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter_lower)
       << "Execute without errors to write value";
@@ -375,8 +350,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_er
     auto previous_counter_higher = test_controller_system->internal_counter;
     auto new_counter = test_broadcaster_sensor->internal_counter + 1;
 
-    EXPECT_NO_THROW(cm_->read(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()), PERIOD));
+    EXPECT_NO_THROW(cm_->read(time_, PERIOD));
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
       test_controller_actuator->get_state().id());
@@ -387,11 +361,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_read_er
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_sensor->get_state().id());
 
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter_lower)
       << "Execute has read error and it is not updated";
     EXPECT_EQ(test_controller_system->internal_counter, previous_counter_higher)
@@ -448,11 +418,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_e
     hardware_interface::lifecycle_state_names::ACTIVE);
 
   {
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_GE(test_controller_actuator->internal_counter, 1u)
       << "Controller is started at the end of update";
     EXPECT_GE(test_controller_system->internal_counter, 1u)
@@ -475,11 +441,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_e
   // Execute first time without any errors
   {
     auto new_counter = test_controller_actuator->internal_counter + 1;
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(test_controller_actuator->internal_counter, new_counter) << "Execute without errors";
     EXPECT_EQ(test_controller_system->internal_counter, new_counter) << "Execute without errors";
     EXPECT_EQ(test_broadcaster_all->internal_counter, new_counter) << "Execute without errors";
@@ -491,11 +453,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_e
   test_controller_actuator->set_first_command_interface_value_to = WRITE_FAIL_VALUE;
   {
     auto new_counter = test_controller_actuator->internal_counter + 1;
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(test_controller_actuator->internal_counter, new_counter)
       << "Execute without errors to write value";
     EXPECT_EQ(test_controller_system->internal_counter, new_counter)
@@ -512,8 +470,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_e
 
     // here happens error in hardware and
     // "actuator controller" and "broadcaster all" are deactivated
-    EXPECT_NO_THROW(cm_->write(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()), PERIOD));
+    EXPECT_NO_THROW(cm_->write(time_, PERIOD));
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
       test_controller_actuator->get_state().id());
@@ -524,11 +481,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_e
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_sensor->get_state().id());
 
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter)
       << "Execute without errors to write value";
     EXPECT_EQ(test_controller_system->internal_counter, new_counter)
@@ -572,11 +525,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_e
     auto previous_counter_lower = test_controller_actuator->internal_counter + 1;
     auto previous_counter_higher = test_controller_system->internal_counter + 1;
 
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
 
     EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter_lower)
       << "Execute without errors to write value";
@@ -595,8 +544,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_e
 
     // here happens error in hardware and
     // "actuator controller" and "broadcaster all" are deactivated
-    EXPECT_NO_THROW(cm_->write(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()), PERIOD));
+    EXPECT_NO_THROW(cm_->write(time_, PERIOD));
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
       test_controller_actuator->get_state().id());
@@ -607,11 +555,7 @@ TEST_P(TestControllerManagerWithTestableCM, stop_controllers_on_hardware_write_e
     EXPECT_EQ(
       lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, test_broadcaster_sensor->get_state().id());
 
-    EXPECT_EQ(
-      controller_interface::return_type::OK,
-      cm_->update(
-        rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-        PERIOD));
+    EXPECT_EQ(controller_interface::return_type::OK, cm_->update(time_, PERIOD));
     EXPECT_EQ(test_controller_actuator->internal_counter, previous_counter_lower)
       << "Execute has write error and it is not updated";
     EXPECT_EQ(test_controller_system->internal_counter, previous_counter_higher)
diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
index ca82bb376d..a34d70ada7 100644
--- a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
+++ b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -378,9 +378,7 @@ class TestControllerChainingWithControllerManager
     position_tracking_controller->external_commands_for_testing_[0] = reference[0];
     position_tracking_controller->external_commands_for_testing_[1] = reference[1];
 
-    cm_->update(
-      rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-      rclcpp::Duration::from_seconds(0.01));
+    cm_->update(time_, rclcpp::Duration::from_seconds(0.01));
     cm_->resource_manager_->read(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01));
 
     // check if all controllers are updated
diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
index 16c84486b6..4137386f72 100644
--- a/controller_manager/test/test_spawner_unspawner.cpp
+++ b/controller_manager/test/test_spawner_unspawner.cpp
@@ -39,15 +39,9 @@ class TestLoadController : public ControllerManagerFixture<controller_manager::C
       std::chrono::milliseconds(10),
       [&]()
       {
-        cm_->read(
-          rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-          PERIOD);
-        cm_->update(
-          rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-          PERIOD);
-        cm_->write(
-          rclcpp::Time(0, 0, cm_->get_node_clock_interface()->get_clock()->get_clock_type()),
-          PERIOD);
+        cm_->read(time_, PERIOD);
+        cm_->update(time_, PERIOD);
+        cm_->write(time_, PERIOD);
       });
 
     update_executor_ =