diff --git a/test_rclcpp/test/test_waitable.cpp b/test_rclcpp/test/test_waitable.cpp
index 6c3b043d..ba0f43a5 100644
--- a/test_rclcpp/test/test_waitable.cpp
+++ b/test_rclcpp/test/test_waitable.cpp
@@ -61,11 +61,13 @@ class WaitableWithTimer : public rclcpp::Waitable
     return 1u;
   }
 
-  bool
+  void
   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;
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error("failed to add timer to wait set");
+    }
   }
 
   bool