diff --git a/moveit_ros/planning/rdf_loader/test/test_rdf_integration.cpp b/moveit_ros/planning/rdf_loader/test/test_rdf_integration.cpp
index e9bc3414ea..9d813402b5 100644
--- a/moveit_ros/planning/rdf_loader/test/test_rdf_integration.cpp
+++ b/moveit_ros/planning/rdf_loader/test/test_rdf_integration.cpp
@@ -66,9 +66,6 @@ TEST(RDFIntegration, topic_based)
   EXPECT_EQ("gonzo", loader.getSRDF()->getName());
 }
 
-// Failing in Jammy disabling temporarily (TODO (vatanaksoytezer): Fix this and enable again)
-// See https://github.com/ros-planning/moveit2/issues/1156
-/*
 TEST(RDFIntegration, executor)
 {
   // RDFLoader should successfully load URDF and SRDF strings from a ROS topic when the node that is
@@ -77,11 +74,9 @@ TEST(RDFIntegration, executor)
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("executor");
 
   // Create a thread to spin an Executor.
-  std::thread([node]() {
-    rclcpp::executors::SingleThreadedExecutor executor;
-    executor.add_node(node);
-    executor.spin();
-  }).detach();
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+  std::thread spinning_thread([&executor] { executor.spin(); });
 
   // WHEN the RDFLoader is created
   rdf_loader::RDFLoader loader(node, "topic_description");
@@ -91,8 +86,9 @@ TEST(RDFIntegration, executor)
   EXPECT_EQ("gonzo", loader.getURDF()->name_);
   ASSERT_NE(nullptr, loader.getSRDF());
   EXPECT_EQ("gonzo", loader.getSRDF()->getName());
+  executor.cancel();
+  spinning_thread.join();
 }
-*/
 
 TEST(RDFIntegration, xacro_test)
 {