diff --git a/capabilities/test/test_execution.launch.py b/capabilities/test/test_execution.launch.py
index d6e619b3c..efd7ad7ca 100644
--- a/capabilities/test/test_execution.launch.py
+++ b/capabilities/test/test_execution.launch.py
@@ -73,6 +73,8 @@ def generate_test_description():
         arguments=[
             "panda_arm_controller",
             "joint_state_broadcaster",
+            "--param-file",
+            ros2_controllers_path,
             "--controller-manager",
             "/controller_manager",
         ],
@@ -119,6 +121,5 @@ def test_gtest_run_complete(self, proc_info, test_exec):
 
 @launch_testing.post_shutdown_test()
 class TaskModelTestAfterShutdown(unittest.TestCase):
-    def test_exit_code(self, proc_info):
-        # Check that all processes in the launch exit with code 0
-        launch_testing.asserts.assertExitCodes(proc_info)
+    def test_exit_code(self, proc_info, test_exec):
+        launch_testing.asserts.assertExitCodes(proc_info, process=test_exec)
diff --git a/core/src/task.cpp b/core/src/task.cpp
index c319c78ca..7dc14fb1e 100644
--- a/core/src/task.cpp
+++ b/core/src/task.cpp
@@ -318,8 +318,7 @@ moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) {
 		if (pimpl()->preempt_requested_) {
 			auto cancel_future = execute_ac_->async_cancel_goal(goal_handle);
 			this->resetPreemptRequest();
-			if (rclcpp::spin_until_future_complete(execute_solution_node_, cancel_future) !=
-			    rclcpp::FutureReturnCode::SUCCESS) {
+			if (executor.spin_until_future_complete(cancel_future) != rclcpp::FutureReturnCode::SUCCESS) {
 				RCLCPP_ERROR(execute_solution_node_->get_logger(), "Could not preempt execution");
 				return error_code;
 			} else {