diff --git a/tf2_ros/include/tf2_ros/transform_listener.h b/tf2_ros/include/tf2_ros/transform_listener.h
index 5839c6496..12a8a576f 100644
--- a/tf2_ros/include/tf2_ros/transform_listener.h
+++ b/tf2_ros/include/tf2_ros/transform_listener.h
@@ -211,6 +211,9 @@ class TransformListener
       executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
       executor_->add_callback_group(callback_group_, node_base_interface_);
       dedicated_listener_thread_ = std::make_unique<std::thread>([&]() {executor_->spin();});
+      while (!executor_->is_spinning()) {
+        std::this_thread::sleep_for(std::chrono::microseconds(10));
+      }
       // Tell the buffer we have a dedicated thread to enable timeouts
       buffer_.setUsingDedicatedThread(true);
     } else {
diff --git a/tf2_ros/test/test_transform_listener.cpp b/tf2_ros/test/test_transform_listener.cpp
index d6e28f6ea..54212b994 100644
--- a/tf2_ros/test/test_transform_listener.cpp
+++ b/tf2_ros/test/test_transform_listener.cpp
@@ -104,6 +104,15 @@ TEST(tf2_test_transform_listener, transform_listener_with_intraprocess)
   custom_node->init_tf_listener();
 }
 
+TEST(tf2_test_transform_listener, transform_listener_spin_thread)
+{
+  auto node = rclcpp::Node::make_shared("tf2_ros_message_filter");
+
+  rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+  tf2_ros::Buffer buffer(clock);
+  tf2_ros::TransformListener tfl(buffer, node, true);
+}
+
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);