diff --git a/joint_state_publisher/package.xml b/joint_state_publisher/package.xml
index b3e73cfd..b536a3fe 100644
--- a/joint_state_publisher/package.xml
+++ b/joint_state_publisher/package.xml
@@ -23,6 +23,7 @@
   <test_depend>python3-pytest</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>launch_testing_ros</test_depend>
+  <test_depend>ros2topic</test_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/joint_state_publisher/test/test_mimic_cycle.py b/joint_state_publisher/test/test_mimic_cycle.py
index a66f2482..10ca6af7 100644
--- a/joint_state_publisher/test/test_mimic_cycle.py
+++ b/joint_state_publisher/test/test_mimic_cycle.py
@@ -19,10 +19,12 @@
 from launch_ros.actions import Node
 import launch_testing
 import launch_testing.asserts
+import launch_testing.markers
 import pytest
 
 
 @pytest.mark.rostest
+@launch_testing.markers.keep_alive
 def generate_test_description():
     test_urdfs_dir = os.path.dirname(__file__)
     joint_state_publisher = Node(
@@ -33,12 +35,15 @@ def generate_test_description():
         LaunchDescription([joint_state_publisher, launch_testing.actions.ReadyToTest()]),
         {'joint_state_publisher': joint_state_publisher})
 
+class TestMimicCycleRobot(unittest.TestCase):
+
+    def test_termination(self, proc_info, joint_state_publisher):
+        proc_info.assertWaitForShutdown(process=joint_state_publisher, timeout=10)
 
 @launch_testing.post_shutdown_test()
-class TestMimicCycleRobot(unittest.TestCase):
+class TestMimicCycleRobotAfterShutdown(unittest.TestCase):
 
     def test_exit(self, proc_info, proc_output):
         jsp = list(proc_info.process_names())[0]
-        # TODO(sloretz) Uncomment when ros2/launch#378 is released
-        # launch_testing.asserts.assertInStderr(jsp, msg='Found an infinite recursive mimic chain')
+        launch_testing.asserts.assertInStderr(proc_output, expected_output='Found an infinite recursive mimic chain', process=jsp)
         launch_testing.asserts.assertExitCodes(proc_info, process=jsp, allowable_exit_codes=[1])