diff --git a/ur_robot_driver/test/integration_test_scaled_joint_controller.py b/ur_robot_driver/test/integration_test_scaled_joint_controller.py
index 073acac63..e496276c0 100755
--- a/ur_robot_driver/test/integration_test_scaled_joint_controller.py
+++ b/ur_robot_driver/test/integration_test_scaled_joint_controller.py
@@ -97,6 +97,10 @@ def setUp(self):
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
+        self._controller_manager_interface.wait_for_controller(
+            "scaled_joint_trajectory_controller", "active"
+        )
+
     #
     # Test functions
     #
diff --git a/ur_robot_driver/test/integration_test_trajectory_until.py b/ur_robot_driver/test/integration_test_trajectory_until.py
index ba3b8eaf0..6255738f4 100644
--- a/ur_robot_driver/test/integration_test_trajectory_until.py
+++ b/ur_robot_driver/test/integration_test_trajectory_until.py
@@ -96,11 +96,13 @@ def init_robot(self):
 
         self._controller_manager_interface.wait_for_controller("tool_contact_controller")
 
-    def setUp(self):
+    def setUp(self, initial_joint_controller):
         self._dashboard_interface.start_robot()
         time.sleep(1)
         self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
 
+        self._controller_manager_interface.wait_for_controller(initial_joint_controller, "active")
+
     #
     # Tests
     #