diff --git a/rcl/test/rcl/service_fixture.cpp b/rcl/test/rcl/service_fixture.cpp
index 665b800..9554f5a 100644
--- a/rcl/test/rcl/service_fixture.cpp
+++ b/rcl/test/rcl/service_fixture.cpp
@@ -113,8 +113,6 @@ int main(int argc, char ** argv)
       }
     });
 
-    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-
     // Initialize a response.
     example_interfaces__srv__AddTwoInts_Response service_response;
     example_interfaces__srv__AddTwoInts_Response__init(&service_response);
@@ -149,6 +147,10 @@ int main(int argc, char ** argv)
       return -1;
     }
     // Our scope exits should take care of fini for everything
+    // stick around until launch gives us a signal to exit
+    while (true) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    }
   }
   return main_ret;
 }
diff --git a/rcl/test/rcl/test_two_executables.py.in b/rcl/test/rcl/test_two_executables.py.in
index 1e4bf86..f9197e0 100644
--- a/rcl/test/rcl/test_two_executables.py.in
+++ b/rcl/test/rcl/test_two_executables.py.in
@@ -1,6 +1,7 @@
 # generated from rcl/test/test_two_executables.py.in
 
 from launch import LaunchDescriptor
+from launch.exit_handler import ignore_signal_exit_handler
 from launch.exit_handler import primary_exit_handler
 from launch.launcher import DefaultLauncher
 
@@ -11,11 +12,13 @@ def @TEST_NAME@():
     ld.add_process(
         cmd=['@TEST_EXECUTABLE1@'],
         name='@TEST_EXECUTABLE1_NAME@',
+        exit_handler=ignore_signal_exit_handler,
     )
 
     ld.add_process(
         cmd=['@TEST_EXECUTABLE2@', '@TEST_EXECUTABLE1_NAME@'],
         name='@TEST_EXECUTABLE2_NAME@',
+        exit_handler=primary_exit_handler,
     )
 
     launcher = DefaultLauncher()