diff --git a/test/src/joint_trajectory.cpp b/test/src/joint_trajectory.cpp
index ce66ab8..f09b325 100644
--- a/test/src/joint_trajectory.cpp
+++ b/test/src/joint_trajectory.cpp
@@ -10,8 +10,8 @@
  *     * Redistributions in binary form must reproduce the above copyright
  *       notice, this list of conditions and the following disclaimer in the
  *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the copyright holder nor the names of its 
- *       contributors may be used to endorse or promote products derived from 
+ *     * Neither the name of the copyright holder nor the names of its
+ *       contributors may be used to endorse or promote products derived from
  *       this software without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
@@ -37,7 +37,7 @@
 
 TEST(JointTrajectory, CommandValidation)
 {
-  ros::WallDuration wait(0.005);
+  ros::WallDuration wait(0.05);
   ros::Duration clock_step(0.05);
 
   ros::NodeHandle nh;
@@ -60,7 +60,7 @@ TEST(JointTrajectory, CommandValidation)
   pub_clock.publish(clock);
 
   // Wait until ypspur_ros
-  for (int i = 0; i < 200 * 30; ++i)
+  for (int i = 0; i < 20 * 30; ++i)
   {
     clock.clock += clock_step;
     pub_clock.publish(clock);