diff --git a/controller_interface/test/test_controller_interface.cpp b/controller_interface/test/test_controller_interface.cpp
index f27fc43283..567efe52ff 100644
--- a/controller_interface/test/test_controller_interface.cpp
+++ b/controller_interface/test/test_controller_interface.cpp
@@ -82,7 +82,8 @@ TEST(TestableControllerInterface, setting_update_rate_in_configure)
   ASSERT_EQ(controller.get_update_rate(), 2812u);
 
   // Test updating of update_rate parameter
-  EXPECT_EQ(std::system("ros2 param set /testable_controller_interface update_rate 623"), 0);
+  auto res = controller.get_node()->set_parameter(rclcpp::Parameter("update_rate", 623));
+  EXPECT_EQ(res.successful, true);
   // Keep the same update rate until transition from 'UNCONFIGURED' TO 'INACTIVE' does not happen
   controller.configure();  // No transition so the update rate should stay intact
   ASSERT_NE(controller.get_update_rate(), 623u);
diff --git a/joint_limits/package.xml b/joint_limits/package.xml
index 312a0d3f45..f1d1cdfc77 100644
--- a/joint_limits/package.xml
+++ b/joint_limits/package.xml
@@ -17,6 +17,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
 
+  <test_depend>launch_ros</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>