diff --git a/ros2bag/test/test_record_qos_profiles.py b/ros2bag/test/test_record_qos_profiles.py
index 6eb632a013..91beba614f 100644
--- a/ros2bag/test/test_record_qos_profiles.py
+++ b/ros2bag/test/test_record_qos_profiles.py
@@ -36,7 +36,10 @@
 PROFILE_PATH = Path(__file__).parent / 'resources'
 TEST_NODE = 'ros2bag_record_qos_profile_test_node'
 TEST_NAMESPACE = 'ros2bag_record_qos_profile'
-ERROR_STRING = r'\[ERROR] \[ros2bag]:'
+ERROR_STRING_MSG = 'ros2bag CLI did not produce the expected output'\
+        '\n Expected output pattern: {}\n Actual output: {}'
+OUTPUT_WAIT_TIMEOUT = 10
+SHUTDOWN_TIMEOUT = 5
 
 
 @pytest.mark.rostest
@@ -81,52 +84,67 @@ def test_qos_simple(self):
         output_path = Path(self.tmpdir.name) / 'ros2bag_test_basic'
         arguments = ['record', '-a', '--qos-profile-overrides-path', profile_path.as_posix(),
                      '--output', output_path.as_posix()]
+        expected_string_regex = re.compile(
+            r'\[rosbag2_storage]: Opened database .* for READ_WRITE')
         with self.launch_bag_command(arguments=arguments) as bag_command:
-            time.sleep(3)
-        bag_command.wait_for_shutdown(timeout=5)
+            bag_command.wait_for_output(
+                condition=lambda output: expected_string_regex.search(output) is not None,
+                timeout=OUTPUT_WAIT_TIMEOUT)
+        bag_command.wait_for_shutdown(timeout=SHUTDOWN_TIMEOUT)
         assert bag_command.terminated
-        expected_string_regex = re.compile(ERROR_STRING)
         matches = expected_string_regex.search(bag_command.output)
-        assert not matches, print('ros2bag CLI did not produce the expected output')
+        assert matches, print(
+                ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output))
 
     def test_incomplete_qos_profile(self):
         profile_path = PROFILE_PATH / 'incomplete_qos_profile.yaml'
         output_path = Path(self.tmpdir.name) / 'ros2bag_test_incomplete'
         arguments = ['record', '-a', '--qos-profile-overrides-path', profile_path.as_posix(),
                      '--output', output_path.as_posix()]
+        expected_string_regex = re.compile(
+            r'\[rosbag2_storage]: Opened database .* for READ_WRITE')
         with self.launch_bag_command(arguments=arguments) as bag_command:
-            time.sleep(3)
-        bag_command.wait_for_shutdown(timeout=5)
+            bag_command.wait_for_output(
+                condition=lambda output: expected_string_regex.search(output) is not None,
+                timeout=OUTPUT_WAIT_TIMEOUT)
+        bag_command.wait_for_shutdown(timeout=SHUTDOWN_TIMEOUT)
         assert bag_command.terminated
-        expected_string_regex = re.compile(ERROR_STRING)
         matches = expected_string_regex.search(bag_command.output)
-        assert not matches, print('ros2bag CLI did not produce the expected output')
+        assert matches, print(
+                ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output))
 
     def test_incomplete_qos_duration(self):
         profile_path = PROFILE_PATH / 'incomplete_qos_duration.yaml'
         output_path = Path(self.tmpdir.name) / 'ros2bag_test_incomplete_duration'
         arguments = ['record', '-a', '--qos-profile-overrides-path', profile_path.as_posix(),
                      '--output', output_path.as_posix()]
+        expected_string_regex = re.compile(
+            r'\[ERROR] \[ros2bag]: Time overrides must include both')
         with self.launch_bag_command(arguments=arguments) as bag_command:
-            time.sleep(3)
-        bag_command.wait_for_shutdown(timeout=5)
+            bag_command.wait_for_output(
+                condition=lambda output: expected_string_regex.search(output) is not None,
+                timeout=OUTPUT_WAIT_TIMEOUT)
+        bag_command.wait_for_shutdown(timeout=SHUTDOWN_TIMEOUT)
         assert bag_command.terminated
         assert bag_command.exit_code != launch_testing.asserts.EXIT_OK
-        expected_string_regex = re.compile(ERROR_STRING)
         matches = expected_string_regex.search(bag_command.output)
-        assert matches, print('ros2bag CLI did not produce the expected output')
+        assert matches, print(
+                ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output))
 
     def test_nonexistent_qos_profile(self):
         profile_path = PROFILE_PATH / 'foobar.yaml'
         output_path = Path(self.tmpdir.name) / 'ros2bag_test_nonexistent'
         arguments = ['record', '-a', '--qos-profile-overrides-path', profile_path.as_posix(),
                      '--output', output_path.as_posix()]
+        expected_string_regex = re.compile(
+            r'ros2 bag record: error: argument --qos-profile-overrides-path: can\'t open')
         with self.launch_bag_command(arguments=arguments) as bag_command:
-            time.sleep(3)
-        bag_command.wait_for_shutdown(timeout=5)
+            bag_command.wait_for_output(
+                condition=lambda output: expected_string_regex.search(output) is not None,
+                timeout=OUTPUT_WAIT_TIMEOUT)
+        bag_command.wait_for_shutdown(timeout=SHUTDOWN_TIMEOUT)
         assert bag_command.terminated
         assert bag_command.exit_code != launch_testing.asserts.EXIT_OK
-        expected_string_regex = re.compile(
-            r"ros2 bag record: error: argument --qos-profile-overrides-path: can't open")
         matches = expected_string_regex.search(bag_command.output)
-        assert matches, print('ros2bag CLI did not produce the expected output')
+        assert matches, print(
+                ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output))