diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp
index 1380b27665..f514370b88 100644
--- a/camera/test/realsense_camera_test_node.cpp
+++ b/camera/test/realsense_camera_test_node.cpp
@@ -543,12 +543,11 @@ TEST (RealsenseTests, testTransforms)
 {
   // make sure all transforms are being broadcast as expected
   tf::TransformListener tf_listener;
-  ros::Duration(1).sleep();  // must listen for ~1 sec or tf won't be found
 
-  EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time::now()));
-  EXPECT_TRUE(tf_listener.canTransform (DEPTH_DEF_FRAME, DEPTH_OPTICAL_DEF_FRAME, ros::Time::now()));
-  EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, COLOR_DEF_FRAME, ros::Time::now()));
-  EXPECT_TRUE(tf_listener.canTransform (COLOR_DEF_FRAME,COLOR_OPTICAL_DEF_FRAME, ros::Time::now()));
+  EXPECT_TRUE(tf_listener.waitForTransform (DEPTH_DEF_FRAME, BASE_DEF_FRAME, ros::Time(0), ros::Duration(3.0)));
+  EXPECT_TRUE(tf_listener.waitForTransform (DEPTH_OPTICAL_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time(0), ros::Duration(3.0)));
+  EXPECT_TRUE(tf_listener.waitForTransform (COLOR_DEF_FRAME, BASE_DEF_FRAME, ros::Time(0), ros::Duration(3.0)));
+  EXPECT_TRUE(tf_listener.waitForTransform (COLOR_OPTICAL_DEF_FRAME, COLOR_DEF_FRAME, ros::Time(0), ros::Duration(3.0)));
 }
 
 TEST (RealsenseTests, testCameraOptions)