diff --git a/moveit_ros/moveit_servo/tests/launch/servo_cpp_integration.test.py b/moveit_ros/moveit_servo/tests/launch/servo_cpp_integration.test.py
index 99c45de1f8..6cb56bfa5b 100644
--- a/moveit_ros/moveit_servo/tests/launch/servo_cpp_integration.test.py
+++ b/moveit_ros/moveit_servo/tests/launch/servo_cpp_integration.test.py
@@ -76,7 +76,7 @@ def generate_test_description():
                 package="tf2_ros",
                 plugin="tf2_ros::StaticTransformBroadcasterNode",
                 name="static_tf2_broadcaster",
-                parameters=[{"/child_frame_id": "panda_link0", "/frame_id": "world"}],
+                parameters=[{"child_frame_id": "/panda_link0", "frame_id": "/world"}],
             ),
         ],
         output="screen",
diff --git a/moveit_ros/moveit_servo/tests/servo_ros_fixture.hpp b/moveit_ros/moveit_servo/tests/servo_ros_fixture.hpp
index c950240299..26f78362cc 100644
--- a/moveit_ros/moveit_servo/tests/servo_ros_fixture.hpp
+++ b/moveit_ros/moveit_servo/tests/servo_ros_fixture.hpp
@@ -75,7 +75,6 @@ class ServoRosFixture : public testing::Test
   {
     // Create a node to be given to Servo.
     servo_test_node_ = std::make_shared<rclcpp::Node>("moveit_servo_test");
-    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
     status_ = moveit_servo::StatusCode::INVALID;
 
@@ -96,13 +95,14 @@ class ServoRosFixture : public testing::Test
 
     waitForService();
 
-    executor_->add_node(servo_test_node_);
-    executor_thread_ = std::thread([this]() { executor_->spin(); });
+    executor_.add_node(servo_test_node_);
+    executor_thread_ = std::thread([this]() { executor_.spin(); });
   }
 
   void TearDown() override
   {
-    executor_->cancel();
+    executor_.remove_node(servo_test_node_);
+    executor_.cancel();
     if (executor_thread_.joinable())
     {
       executor_thread_.join();
@@ -122,7 +122,7 @@ class ServoRosFixture : public testing::Test
 
       rclcpp::sleep_for(std::chrono::milliseconds(500));
     }
-    RCLCPP_INFO(logger, "SERVICE READY");
+    RCLCPP_INFO(logger, "MoveIt Servo input switching service ready!");
   }
 
   void waitForJointStates()
@@ -150,7 +150,7 @@ class ServoRosFixture : public testing::Test
   std::shared_ptr<rclcpp::Node> servo_test_node_;
 
   // Executor and a thread to run the executor.
-  rclcpp::Executor::SharedPtr executor_;
+  rclcpp::executors::SingleThreadedExecutor executor_;
   std::thread executor_thread_;
 
   rclcpp::Subscription<moveit_msgs::msg::ServoStatus>::SharedPtr status_subscriber_;