diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index 35223016b7..0552e0bc86 100644
--- a/joint_trajectory_controller/CMakeLists.txt
+++ b/joint_trajectory_controller/CMakeLists.txt
@@ -83,6 +83,7 @@ if(BUILD_TESTING)
   ament_add_gmock(test_trajectory_actions
     test/test_trajectory_actions.cpp
   )
+  set_tests_properties(test_trajectory_actions PROPERTIES TIMEOUT 300)
   target_link_libraries(test_trajectory_actions
     joint_trajectory_controller
   )