diff --git a/test_rclcpp/CMakeLists.txt b/test_rclcpp/CMakeLists.txt
index 7696796b..f64ca129 100644
--- a/test_rclcpp/CMakeLists.txt
+++ b/test_rclcpp/CMakeLists.txt
@@ -190,6 +190,9 @@ if(BUILD_TESTING)
     custom_gtest(gtest_services_in_constructor
       "test/test_services_in_constructor.cpp"
       TIMEOUT 30)
+    custom_gtest(gtest_waitable
+      "test/test_waitable.cpp"
+      TIMEOUT 30)
 
     # Parameter tests single implementation
     custom_launch_test_two_executables(test_parameter_server_cpp
diff --git a/test_rclcpp/test/test_waitable.cpp b/test_rclcpp/test/test_waitable.cpp
new file mode 100644
index 00000000..9a307758
--- /dev/null
+++ b/test_rclcpp/test/test_waitable.cpp
@@ -0,0 +1,106 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <chrono>
+#include <future>
+#include <memory>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/rclcpp.hpp"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+
+class WaitableWithTimer : public rclcpp::Waitable
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(WaitableWithTimer)
+
+  explicit WaitableWithTimer(rclcpp::Clock::SharedPtr clock)
+  {
+    size_t period_nanoseconds = 100000;
+
+    timer_.reset(new rcl_timer_t);
+    *timer_ = rcl_get_zero_initialized_timer();
+    rcl_clock_t * clock_handle = clock->get_clock_handle();
+    rcl_ret_t ret = rcl_timer_init(timer_.get(), clock_handle, period_nanoseconds, nullptr,
+        rcl_get_default_allocator());
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error("failed to create timer");
+    }
+  }
+
+  virtual
+  ~WaitableWithTimer() = default;
+
+  size_t
+  get_number_of_ready_timers() override
+  {
+    return 1u;
+  }
+
+  bool
+  add_to_wait_set(rcl_wait_set_t * wait_set) override
+  {
+    rcl_ret_t ret = rcl_wait_set_add_timer(wait_set, timer_.get(), &timer_idx_);
+    return RCL_RET_OK == ret;
+  }
+
+  bool
+  is_ready(rcl_wait_set_t * wait_set) override
+  {
+    if (timer_idx_ < wait_set->size_of_timers) {
+      return nullptr != wait_set->timers[timer_idx_];
+    }
+    return false;
+  }
+
+  void
+  execute() override
+  {
+    rcl_ret_t ret = rcl_timer_call(timer_.get());
+    execute_promise_.set_value(RCL_RET_OK == ret);
+  }
+
+  std::shared_ptr<rcl_timer_t> timer_;
+  size_t timer_idx_;
+  std::promise<bool> execute_promise_;
+};  // class WaitableWithTimer
+
+TEST(CLASSNAME(test_waitable, RMW_IMPLEMENTATION), waitable_with_timer) {
+  auto node = rclcpp::Node::make_shared("waitable_with_timer");
+  auto waitable = WaitableWithTimer::make_shared(node->get_clock());
+  auto group = node->create_callback_group(rclcpp::callback_group::CallbackGroupType::Reentrant);
+  node->get_node_waitables_interface()->add_waitable(waitable, group);
+
+  std::shared_future<bool> fut(waitable->execute_promise_.get_future());
+  rclcpp::spin_until_future_complete(node, fut);
+
+  EXPECT_TRUE(fut.get());
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(0, nullptr);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}