diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt
index d4331fbc9..c62db94d7 100644
--- a/gazebo_plugins/CMakeLists.txt
+++ b/gazebo_plugins/CMakeLists.txt
@@ -337,24 +337,25 @@ install(DIRECTORY test
   )
 
 # Tests
+# These need to be run with -j1 flag because gazebo can't be run
+# in parallel.
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
-  # add_rostest_gtest(set_model_state-test
-  #                   test/set_model_state_test/set_model_state_test.test 
-  #                   test/set_model_state_test/set_model_state_test.cpp)
-  # target_link_libraries(set_model_state-test ${catkin_LIBRARIES})
+  add_rostest_gtest(set_model_state-test
+                    test/set_model_state_test/set_model_state_test.test 
+                    test/set_model_state_test/set_model_state_test.cpp)
+  target_link_libraries(set_model_state-test ${catkin_LIBRARIES})
 
-  # Can't run these and the above test together
   add_rostest_gtest(depth_camera-test
                     test/camera/depth_camera.test
                     test/camera/depth_camera.cpp)
   target_link_libraries(depth_camera-test ${catkin_LIBRARIES})
-  # add_rostest_gtest(multicamera-test
-  #                   test/camera/multicamera.test
-  #                   test/camera/multicamera.cpp)
-  # target_link_libraries(multicamera-test ${catkin_LIBRARIES})
-  # add_rostest_gtest(camera-test
-  #                   test/camera/camera.test
-  #                   test/camera/camera.cpp)
-  # target_link_libraries(camera-test ${catkin_LIBRARIES})
+  add_rostest_gtest(multicamera-test
+                    test/camera/multicamera.test
+                    test/camera/multicamera.cpp)
+  target_link_libraries(multicamera-test ${catkin_LIBRARIES})
+  add_rostest_gtest(camera-test
+                    test/camera/camera.test
+                    test/camera/camera.cpp)
+  target_link_libraries(camera-test ${catkin_LIBRARIES})
 endif()
diff --git a/gazebo_plugins/test/camera/camera.cpp b/gazebo_plugins/test/camera/camera.cpp
index 25a2932d3..b7805bbae 100644
--- a/gazebo_plugins/test/camera/camera.cpp
+++ b/gazebo_plugins/test/camera/camera.cpp
@@ -60,7 +60,7 @@ TEST_F(CameraTest, cameraSubscribeTest)
   // this likely isn't that robust - what if the testing system is really slow?
   double time_diff = (ros::Time::now() - image_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, 1.0);
   cam_sub_.shutdown();
 }
 
diff --git a/gazebo_plugins/test/camera/depth_camera.cpp b/gazebo_plugins/test/camera/depth_camera.cpp
index b6809e87c..596e6d50f 100644
--- a/gazebo_plugins/test/camera/depth_camera.cpp
+++ b/gazebo_plugins/test/camera/depth_camera.cpp
@@ -80,22 +80,25 @@ TEST_F(DepthCameraTest, cameraSubscribeTest)
 
   EXPECT_EQ(depth_stamp_.toSec(), image_stamp_.toSec());
   EXPECT_EQ(depth_stamp_.toSec(), points_stamp_.toSec());
-  // This check depends on the update period being much longer
-  // than the expected difference between now and the received image time
+  // This check depends on the update period (currently 1.0/update_rate = 2.0 seconds)
+  // being much longer than the expected difference between now and the
+  // received image time.
+  const double max_time = 1.0;
+  const ros::Time current_time = ros::Time::now();
   // TODO(lucasw)
   // this likely isn't that robust - what if the testing system is really slow?
   double time_diff;
-  time_diff = (ros::Time::now() - image_stamp_).toSec();
+  time_diff = (current_time - image_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, max_time);
 
-  time_diff = (ros::Time::now() - depth_stamp_).toSec();
+  time_diff = (current_time - depth_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, max_time);
 
-  time_diff = (ros::Time::now() - points_stamp_).toSec();
+  time_diff = (current_time - points_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, max_time);
 
   cam_sub_.shutdown();
   depth_sub_.shutdown();
diff --git a/gazebo_plugins/test/camera/multicamera.cpp b/gazebo_plugins/test/camera/multicamera.cpp
index cd66a0778..0823c53da 100644
--- a/gazebo_plugins/test/camera/multicamera.cpp
+++ b/gazebo_plugins/test/camera/multicamera.cpp
@@ -89,7 +89,7 @@ TEST_F(MultiCameraTest, cameraSubscribeTest)
   // this likely isn't that robust - what if the testing system is really slow?
   double time_diff = (ros::Time::now() - image_left_stamp_).toSec();
   ROS_INFO_STREAM(time_diff);
-  EXPECT_LT(time_diff, 0.5);
+  EXPECT_LT(time_diff, 1.0);
   // cam_sub_.shutdown();
 }