diff --git a/rclrs/src/executor.rs b/rclrs/src/executor.rs
index 3c67c91cf..0d97f985f 100644
--- a/rclrs/src/executor.rs
+++ b/rclrs/src/executor.rs
@@ -487,3 +487,30 @@ impl CreateBasicExecutor for Context {
         self.create_executor(runtime)
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use crate::*;
+    use std::time::Duration;
+
+    #[test]
+    fn test_timeout() {
+        let context = Context::default();
+        let mut executor = context.create_basic_executor();
+        let _node = executor
+            .create_node(&format!("test_timeout_{}", line!()))
+            .unwrap();
+
+        for _ in 0..10 {
+            let r = executor.spin(SpinOptions::default().timeout(Duration::from_millis(1)));
+            assert_eq!(r.len(), 1);
+            assert!(matches!(
+                r[0],
+                RclrsError::RclError {
+                    code: RclReturnCode::Timeout,
+                    ..
+                }
+            ));
+        }
+    }
+}
diff --git a/rclrs/src/wait_set.rs b/rclrs/src/wait_set.rs
index a7951f00a..90086ae4d 100644
--- a/rclrs/src/wait_set.rs
+++ b/rclrs/src/wait_set.rs
@@ -114,32 +114,39 @@ impl WaitSet {
                 })
             }
         };
+
         // SAFETY: The comments in rcl mention "This function cannot operate on the same wait set
         // in multiple threads, and the wait sets may not share content."
-        // We cannot currently guarantee that the wait sets may not share content, but it is
-        // mentioned in the doc comment for `add_subscription`.
-        // Also, the rcl_wait_set is obviously valid.
-        match unsafe { rcl_wait(&mut self.handle.rcl_wait_set, timeout_ns) }.ok() {
-            Ok(_) => (),
+        // * The we have exclusive access to rcl_wait_set because this is a
+        //   mutable borrow of WaitSet, which houses rcl_wait_set.
+        // * We guarantee that the wait sets do not share content by funneling
+        //   the waitable of each primitive to one (and only one) WaitSet when
+        //   the primitive gets constructed. The waitables are never allowed to
+        //   move between wait sets.
+        let r = match unsafe { rcl_wait(&mut self.handle.rcl_wait_set, timeout_ns) }.ok() {
+            Ok(_) => Ok(()),
             Err(error) => match error {
                 RclrsError::RclError { code, msg } => match code {
-                    RclReturnCode::WaitSetEmpty => (),
-                    _ => return Err(RclrsError::RclError { code, msg }),
+                    RclReturnCode::WaitSetEmpty => Ok(()),
+                    _ => Err(RclrsError::RclError { code, msg }),
                 },
-                _ => return Err(error),
+                _ => Err(error),
             },
-        }
+        };
 
         // Remove any waitables that are no longer being used
         for waitable in self.primitives.values_mut() {
             waitable.retain(|w| w.in_use());
         }
 
-        // For the remaining entities, check if they were activated and then run
-        // the callback for those that were.
-        for waiter in self.primitives.values_mut().flat_map(|v| v) {
-            if waiter.is_ready(&self.handle.rcl_wait_set) {
-                f(&mut *waiter.primitive)?;
+        // Do not check the readiness if an error was reported.
+        if !r.is_err() {
+            // For the remaining entities, check if they were activated and then run
+            // the callback for those that were.
+            for waiter in self.primitives.values_mut().flat_map(|v| v) {
+                if waiter.is_ready(&self.handle.rcl_wait_set) {
+                    f(&mut *waiter.primitive)?;
+                }
             }
         }
 
@@ -160,7 +167,7 @@ impl WaitSet {
             );
         }
 
-        Ok(())
+        r
     }
 
     /// Get a count of the different kinds of entities in the wait set.