diff --git a/rcl/test/rcl/test_timer.cpp b/rcl/test/rcl/test_timer.cpp
index ae3984bed..8d0757875 100644
--- a/rcl/test/rcl/test_timer.cpp
+++ b/rcl/test/rcl/test_timer.cpp
@@ -246,14 +246,24 @@ TEST_F(TestTimerFixture, test_two_timers) {
     ret = rcl_wait_set_fini(&wait_set);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
-  ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  // The loop is needed because the rcl_wait_set might suffer spurious
+  // awakes when timers are involved.
+  // The loop can be removed if spurious awakes are fixed in the future.
+  // This issue particularly happens on Windows.
   uint8_t nonnull_timers = 0;
-  for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
-    if (wait_set.timers[i] != NULL) {
-      nonnull_timers++;
+  auto start = std::chrono::system_clock::now();
+  do {
+    ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
+      if (wait_set.timers[i] != NULL) {
+        nonnull_timers++;
+      }
     }
-  }
+  } while (
+    nonnull_timers == 0u ||
+    std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::system_clock::now() - start).count() > 100u);
   bool is_ready = false;
   ret = rcl_timer_is_ready(&timer, &is_ready);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -304,14 +314,24 @@ TEST_F(TestTimerFixture, test_two_timers_ready_before_timeout) {
     ret = rcl_wait_set_fini(&wait_set);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
   });
-  ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
-  EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
-  uint8_t nonnull_timers = 0;
-  for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
-    if (wait_set.timers[i] != NULL) {
-      nonnull_timers++;
+  // The loop is needed because the rcl_wait_set might suffer spurious
+  // awakes when timers are involved.
+  // The loop can be removed if spurious awakes are fixed in the future.
+  // This issue particularly happens on Windows.
+  uint8_t nonnull_timers = 0u;
+  auto start = std::chrono::system_clock::now();
+  do {
+    ret = rcl_wait(&wait_set, RCL_MS_TO_NS(100));
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    for (uint8_t i = 0; i < wait_set.size_of_timers; i++) {
+      if (wait_set.timers[i] != NULL) {
+        nonnull_timers++;
+      }
     }
-  }
+  } while (
+    nonnull_timers == 0u ||
+    std::chrono::duration_cast<std::chrono::milliseconds>(
+      std::chrono::system_clock::now() - start).count() > 100u);
   bool is_ready = false;
   ret = rcl_timer_is_ready(&timer, &is_ready);
   EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;