diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 376cef3362..92607dec40 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -188,6 +188,7 @@ if(BUILD_TESTING)
     test_controller
     ros2_control_test_assets::ros2_control_test_assets
   )
+  set_tests_properties(test_spawner_unspawner PROPERTIES TIMEOUT 120)
 
   ament_add_gmock(test_hardware_management_srvs
     test/test_hardware_management_srvs.cpp
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
index 69950cb593..a1de69e5bf 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -937,10 +937,10 @@ const auto minimal_robot_missing_command_keys_urdf =
 [[maybe_unused]] const std::string TEST_SYSTEM_HARDWARE_TYPE = "system";
 [[maybe_unused]] const std::string TEST_SYSTEM_HARDWARE_PLUGIN_NAME = "test_system";
 [[maybe_unused]] const std::vector<std::string> TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES = {
-  "joint2/velocity", "joint2/max_acceleration", "joint3/velocity"};
+  "joint2/velocity", "joint2/max_acceleration", "joint3/velocity", "configuration/max_tcp_jerk"};
 [[maybe_unused]] const std::vector<std::string> TEST_SYSTEM_HARDWARE_STATE_INTERFACES = {
-  "joint2/position", "joint2/velocity", "joint2/acceleration",
-  "joint3/position", "joint3/velocity", "joint3/acceleration"};
+  "joint2/position", "joint2/velocity",     "joint2/acceleration",       "joint3/position",
+  "joint3/velocity", "joint3/acceleration", "configuration/max_tcp_jerk"};
 
 }  // namespace ros2_control_test_assets