diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index ba00d576c..c59e15bde 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -6,6 +6,8 @@
     <arg name="call_services_in_new_thread" value="true"/>
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
+    <arg name="delay_between_messages" value="$(if $(equals $(env 'ROS_DISTRO') 'humble') 0 0.0)"/>
+    <arg name="services_glob" value="'[*]'" />
   </include>
 
   <!-- Static transform publisher (equivalent to tf static_transform_publisher) -->