diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
index 06fc6dd8103..141a3157bce 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -93,9 +93,9 @@ class BtActionNode : public BT::ActionNodeBase
 
     // Make sure the server is actually there before continuing
     RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
-    if (!action_client_->wait_for_action_server(1s)) {
+    if (!action_client_->wait_for_action_server(10s)) {
       RCLCPP_ERROR(
-        node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",
+        node_->get_logger(), "\"%s\" action server not available after waiting for 10 s",
         action_name.c_str());
       throw std::runtime_error(std::string("Action server %s not available", action_name.c_str()));
     }