diff --git a/nav2_system_tests/src/localization/CMakeLists.txt b/nav2_system_tests/src/localization/CMakeLists.txt
index a4a76a327b..740d38f53e 100644
--- a/nav2_system_tests/src/localization/CMakeLists.txt
+++ b/nav2_system_tests/src/localization/CMakeLists.txt
@@ -9,7 +9,7 @@ ament_target_dependencies(test_localization_node
 ament_add_test(test_localization
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_localization_launch.py"
-  TIMEOUT 60
+  TIMEOUT 180
   ENV
     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
     TEST_EXECUTABLE=$<TARGET_FILE:test_localization_node>
diff --git a/nav2_system_tests/src/recoveries/spin/CMakeLists.txt b/nav2_system_tests/src/recoveries/spin/CMakeLists.txt
index ef01473fcb..34abacca01 100644
--- a/nav2_system_tests/src/recoveries/spin/CMakeLists.txt
+++ b/nav2_system_tests/src/recoveries/spin/CMakeLists.txt
@@ -13,7 +13,7 @@ ament_add_test(test_spin_recovery
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_spin_recovery_launch.py"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  TIMEOUT 100
+  TIMEOUT 180
   ENV
     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
     TEST_EXECUTABLE=$<TARGET_FILE:${test_spin_recovery_exec}>
diff --git a/nav2_system_tests/src/recoveries/wait/CMakeLists.txt b/nav2_system_tests/src/recoveries/wait/CMakeLists.txt
index b91374df43..06755020d5 100644
--- a/nav2_system_tests/src/recoveries/wait/CMakeLists.txt
+++ b/nav2_system_tests/src/recoveries/wait/CMakeLists.txt
@@ -13,7 +13,7 @@ ament_add_test(test_wait_recovery
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_wait_recovery_launch.py"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  TIMEOUT 100
+  TIMEOUT 180
   ENV
     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
     TEST_EXECUTABLE=$<TARGET_FILE:${test_wait_recovery_exec}>
diff --git a/nav2_system_tests/src/system/CMakeLists.txt b/nav2_system_tests/src/system/CMakeLists.txt
index 9784be1ac0..09017bfc6c 100644
--- a/nav2_system_tests/src/system/CMakeLists.txt
+++ b/nav2_system_tests/src/system/CMakeLists.txt
@@ -2,7 +2,7 @@ ament_add_test(test_bt_navigator
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_system_launch.py"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  TIMEOUT 100
+  TIMEOUT 180
   ENV
     TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
@@ -16,7 +16,7 @@ ament_add_test(test_bt_navigator_with_dijkstra
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_system_launch.py"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  TIMEOUT 100
+  TIMEOUT 180
   ENV
     TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
@@ -30,7 +30,7 @@ ament_add_test(test_dynamic_obstacle
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_system_launch.py"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  TIMEOUT 100
+  TIMEOUT 180
   ENV
     TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
@@ -44,7 +44,7 @@ ament_add_test(test_dynamic_obstacle
 #   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
 #   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_multi_robot_launch.py"
 #   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-#   TIMEOUT 120
+#   TIMEOUT 180
 #   ENV
 #     TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
 #     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml
diff --git a/nav2_system_tests/src/system/tester_node.py b/nav2_system_tests/src/system/tester_node.py
index ca51089052..a66e2f7b89 100755
--- a/nav2_system_tests/src/system/tester_node.py
+++ b/nav2_system_tests/src/system/tester_node.py
@@ -203,22 +203,13 @@ def shutdown(self):
         except Exception as e:
             self.error_msg('Service call failed %r' % (e,))
 
-
-def test_InitialPose(robot_tester, timeout, retries):
-    robot_tester.initial_pose_received = False
-    retry_count = 1
-    while not robot_tester.initial_pose_received and retry_count <= retries:
-        retry_count += 1
-        robot_tester.info_msg('Setting initial pose')
-        robot_tester.setInitialPose()
-        robot_tester.info_msg('Waiting for amcl_pose to be received')
-        rclpy.spin_once(robot_tester, timeout_sec=timeout)  # wait for poseCallback
-
-    if (robot_tester.initial_pose_received):
-        robot_tester.info_msg('test_InitialPose PASSED')
-    else:
-        robot_tester.info_msg('test_InitialPose FAILED')
-    return robot_tester.initial_pose_received
+    def wait_for_initial_pose(self):
+        self.initial_pose_received = False
+        while not self.initial_pose_received:
+            self.info_msg('Setting initial pose')
+            self.setInitialPose()
+            self.info_msg('Waiting for amcl_pose to be received')
+            rclpy.spin_once(self, timeout_sec=1)
 
 
 def test_RobotMovesToGoal(robot_tester):
@@ -233,10 +224,8 @@ def run_all_tests(robot_tester):
     result = True
     if (result):
         robot_tester.wait_for_node_active('amcl')
-        result = test_InitialPose(robot_tester, timeout=1, retries=10)
-    if (result):
+        robot_tester.wait_for_initial_pose()
         robot_tester.wait_for_node_active('bt_navigator')
-    if (result):
         result = robot_tester.runNavigateAction()
 
     # TODO(orduno) Test sending the navigation request through the topic interface.
diff --git a/nav2_system_tests/src/waypoint_follower/CMakeLists.txt b/nav2_system_tests/src/waypoint_follower/CMakeLists.txt
index a8d005b175..2cd3c53a92 100644
--- a/nav2_system_tests/src/waypoint_follower/CMakeLists.txt
+++ b/nav2_system_tests/src/waypoint_follower/CMakeLists.txt
@@ -2,7 +2,7 @@ ament_add_test(test_waypoint_follower
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/test_case_py.launch"
   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  TIMEOUT 100
+  TIMEOUT 180
   ENV
     TEST_DIR=${CMAKE_CURRENT_SOURCE_DIR}
     TEST_MAP=${PROJECT_SOURCE_DIR}/maps/map_circular.yaml