diff --git a/nav2_docking/opennav_docking/test/test_docking_server.py b/nav2_docking/opennav_docking/test/test_docking_server.py
index e5ea756ebf5..1fcfcb93032 100644
--- a/nav2_docking/opennav_docking/test/test_docking_server.py
+++ b/nav2_docking/opennav_docking/test/test_docking_server.py
@@ -202,6 +202,7 @@ def test_docking_server(self):
 
         # Spin once so that TF is published
         rclpy.spin_once(self.node, timeout_sec=0.1)
+        rclpy.spin_once(self.node, timeout_sec=0.1)
 
         print('test_docking_server Preample OK')
 
@@ -232,7 +233,7 @@ def test_docking_server(self):
         print('test_docking_server dock preempt OK')
 
         # Wait until we get the dock preemption
-        while len(self.action_result) == 0:
+        while len(self.action_result) < 1:
             rclpy.spin_once(self.node, timeout_sec=0.1)
             time.sleep(0.1)