diff --git a/pendulum_control/package.xml b/pendulum_control/package.xml
index f5ccba852..9dbb1995c 100644
--- a/pendulum_control/package.xml
+++ b/pendulum_control/package.xml
@@ -25,6 +25,7 @@
   <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
+  <test_depend>ros2run</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/pendulum_control/test/execute_with_delay.py b/pendulum_control/test/execute_with_delay.py
index 27fe28b1f..e2c1e7ade 100755
--- a/pendulum_control/test/execute_with_delay.py
+++ b/pendulum_control/test/execute_with_delay.py
@@ -13,10 +13,11 @@
 # limitations under the License.
 
 import argparse
-import subprocess
 import sys
 import time
 
+from ros2run.api import run_executable
+
 
 def main():
     parser = argparse.ArgumentParser(description='Delay and execute an executable.')
@@ -27,7 +28,8 @@ def main():
 
     delay_time = args.delay * 0.001
     time.sleep(delay_time)
-    return subprocess.call(args.executable)
+    # use ros2run api to handle KeyboardInterrupt
+    return run_executable(path=args.executable[0], argv=args.executable[1:])
 
 
 if __name__ == '__main__':