diff --git a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
index c20708788c..4127bc6843 100644
--- a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
+++ b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
@@ -57,7 +57,9 @@ inline BT::NodeStatus GoalUpdater::tick()
 
   getInput("input_goal", goal);
 
-  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
+  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
+  callback_group_executor_.spin_all(std::chrono::milliseconds(1));
+  callback_group_executor_.spin_all(std::chrono::milliseconds(49));
 
   if (last_goal_received_.header.stamp != rclcpp::Time(0)) {
     auto last_goal_received_time = rclcpp::Time(last_goal_received_.header.stamp);