diff --git a/nav2_tasks/include/nav2_tasks/goal_reached_condition.hpp b/nav2_tasks/include/nav2_tasks/goal_reached_condition.hpp
index f8751f24fa..ccbf7c87c3 100644
--- a/nav2_tasks/include/nav2_tasks/goal_reached_condition.hpp
+++ b/nav2_tasks/include/nav2_tasks/goal_reached_condition.hpp
@@ -70,6 +70,7 @@ class GoalReachedCondition : public BT::ConditionNode
   {
     auto current_pose = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>();
 
+    rclcpp::spin_some(node_);
     if (!robot_->getCurrentPose(current_pose)) {
       RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
       return false;
diff --git a/nav2_tasks/include/nav2_tasks/is_localized_condition.hpp b/nav2_tasks/include/nav2_tasks/is_localized_condition.hpp
index 6615bfd6b8..1444ecf594 100644
--- a/nav2_tasks/include/nav2_tasks/is_localized_condition.hpp
+++ b/nav2_tasks/include/nav2_tasks/is_localized_condition.hpp
@@ -69,6 +69,7 @@ class IsLocalizedCondition : public BT::ConditionNode
   {
     auto current_pose = std::make_shared<geometry_msgs::msg::PoseWithCovarianceStamped>();
 
+    rclcpp::spin_some(node_);
     if (!robot_->getCurrentPose(current_pose)) {
       RCLCPP_DEBUG(node_->get_logger(), "Current robot pose is not available.");
       return false;