diff --git a/nav2_docking/opennav_docking/test/test_docking_server.py b/nav2_docking/opennav_docking/test/test_docking_server.py
index 43e3e2df329..f4fd05cdf38 100644
--- a/nav2_docking/opennav_docking/test/test_docking_server.py
+++ b/nav2_docking/opennav_docking/test/test_docking_server.py
@@ -24,9 +24,12 @@
 from nav2_msgs.action import DockRobot, NavigateToPose, UndockRobot
 import pytest
 import rclpy
-from rclpy.action import ActionClient, ActionServer
+import rclpy.time
+import rclpy.duration
+from rclpy.action.client import ActionClient
+from rclpy.action.server import ActionServer
 from sensor_msgs.msg import BatteryState
-from tf2_ros import TransformBroadcaster
+from tf2_ros import TransformBroadcaster, Buffer, TransformListener
 
 
 # This test can be run standalone with:
@@ -142,9 +145,40 @@ def nav_execute_callback(self, goal_handle):
         result.error_code = 0
         return result
 
+    def check_transform(self, timeout_sec, source_frame='odom', target_frame='base_link'):
+        """Try to look up the transform we're publishing"""
+        if self.transform_available:
+            return True
+
+        try:
+            # Wait for transform to become available with timeout
+            when = rclpy.time.Time()
+            transform = self.tf_buffer.lookup_transform(
+                target_frame,
+                source_frame,
+                when,
+                timeout=rclpy.duration.Duration(seconds=timeout_sec)
+            )
+
+            self.node.get_logger().info('Successfully found transform:')
+            self.node.get_logger().info(f'Translation: [{transform.transform.translation.x}, '
+                                 f'{transform.transform.translation.y}, '
+                                 f'{transform.transform.translation.z}]')
+            self.transform_available = True
+        except Exception as e:
+            self.node.get_logger().error(f'Error looking up transform: {str(e)}')
+            self.transform_available = False
+
+        return self.transform_available
+
     def test_docking_server(self):
         # Publish TF for odometry
         self.tf_broadcaster = TransformBroadcaster(self.node)
+        # Create tf buffer and listener
+        self.tf_buffer = Buffer()
+        self.tf_listener = TransformListener(self.tf_buffer, self.node)
+        self.transform_available = False
+
 
         # Create a timer to run "control loop" at 20hz
         self.timer = self.node.create_timer(0.05, self.timer_callback)
@@ -175,12 +209,21 @@ def test_docking_server(self):
             'navigate_to_pose',
             self.nav_execute_callback)
 
-        # Spin once so that TF is published
-        rclpy.spin_once(self.node, timeout_sec=0.1)
+        # Publish transform
+        self.publish()
+
+        # Run for 2 seconds to allow tf to propogate
+        for i in range(20):
+            rclpy.spin_once(self.node, timeout_sec=0.1)
+            time.sleep(0.1)
+
+        assert self.check_transform(timeout_sec=1.0), 'transform not available'
 
         # Test docking action
         self.action_result = []
-        self.dock_action_client.wait_for_server(timeout_sec=5.0)
+        assert self.dock_action_client.wait_for_server(timeout_sec=5.0), \
+          'dock_robot service not available'
+
         goal = DockRobot.Goal()
         goal.use_dock_id = True
         goal.dock_id = 'test_dock'
@@ -188,7 +231,8 @@ def test_docking_server(self):
             goal, feedback_callback=self.action_feedback_callback)
         rclpy.spin_until_future_complete(self.node, future)
         self.goal_handle = future.result()
-        assert self.goal_handle.accepted
+        assert self.goal_handle is not None, 'goal_handle should not be None'
+        assert self.goal_handle.accepted, 'goal not accepted'
         result_future_original = self.goal_handle.get_result_async()
 
         # Run for 2 seconds