diff --git a/moveit_core/robot_state/test/robot_state_test.cpp b/moveit_core/robot_state/test/robot_state_test.cpp
index bea2b7e229..e1d710805c 100644
--- a/moveit_core/robot_state/test/robot_state_test.cpp
+++ b/moveit_core/robot_state/test/robot_state_test.cpp
@@ -781,6 +781,8 @@ TEST_F(OneRobot, rigidlyConnectedParent)
   EXPECT_EQ(robot_model_->getRigidlyConnectedParentLinkModel(link_b), link_a);
 
   moveit::core::RobotState state(robot_model_);
+  state.setToDefaultValues();
+  state.updateLinkTransforms();
 
   EXPECT_EQ(state.getRigidlyConnectedParentLinkModel("link_b"), link_a);