diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
index 11cb30b9ab..077afa6f7c 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller.cpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp
@@ -2675,8 +2675,10 @@ TEST_F(TrajectoryControllerTest, setting_scaling_factor_works_correctly)
   rclcpp::executors::MultiThreadedExecutor executor;
   std::vector<rclcpp::Parameter> params = {};
   SetUpAndActivateTrajectoryController(executor, params);
+  // Create a QoS profile that matches the controller's speed_scaling subscriber
+  auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local();
   auto speed_scaling_pub = node_->create_publisher<control_msgs::msg::SpeedScalingFactor>(
-    controller_name_ + "/speed_scaling_input", rclcpp::SystemDefaultsQoS());
+    controller_name_ + "/speed_scaling_input", qos);
   subscribeToState(executor);
 
   control_msgs::msg::SpeedScalingFactor msg;
@@ -2775,8 +2777,10 @@ TEST_F(TrajectoryControllerTest, scaling_state_interface_sets_value)
   };
   SetUpAndActivateTrajectoryController(executor, params);
 
+  // Create a QoS profile that matches the controller's speed_scaling subscriber
+  auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local();
   auto speed_scaling_pub = node_->create_publisher<control_msgs::msg::SpeedScalingFactor>(
-    controller_name_ + "/speed_scaling_input", rclcpp::SystemDefaultsQoS());
+    controller_name_ + "/speed_scaling_input", qos);
   subscribeToState(executor);
   updateController();
   // Spin to receive latest state
@@ -2810,8 +2814,10 @@ TEST_F(TrajectoryControllerTest, scaling_command_interface_sets_value)
   };
   SetUpAndActivateTrajectoryController(executor, params);
 
+  // Create a QoS profile that matches the controller's speed_scaling subscriber
+  auto qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local();
   auto speed_scaling_pub = node_->create_publisher<control_msgs::msg::SpeedScalingFactor>(
-    controller_name_ + "/speed_scaling_input", rclcpp::SystemDefaultsQoS());
+    controller_name_ + "/speed_scaling_input", qos);
   subscribeToState(executor);
   updateController();
   // Spin to receive latest state