diff --git a/src/devices/RGBDSensorClient/tests/RGBDSensorClient_test.cpp b/src/devices/RGBDSensorClient/tests/RGBDSensorClient_test.cpp
index cfd71761b4..34307df369 100644
--- a/src/devices/RGBDSensorClient/tests/RGBDSensorClient_test.cpp
+++ b/src/devices/RGBDSensorClient/tests/RGBDSensorClient_test.cpp
@@ -50,7 +50,8 @@ TEST_CASE("dev::RGBDSensorClientTest", "[yarp::dev]")
         REQUIRE(result_att); }
 
         //wait some time
-        yarp::os::Time::delay(0.1);
+        yarp::os::SystemClock::delaySystem(1.0);
+        INFO("rgbdSensor_nws_yarp and fakeDepthCamera ready");
 
         //create the client
         {
diff --git a/src/devices/RGBDSensor_nws_yarp/tests/RGBDSensor_nws_yarp_test.cpp b/src/devices/RGBDSensor_nws_yarp/tests/RGBDSensor_nws_yarp_test.cpp
index 08a7f6c7da..f93c687a6f 100644
--- a/src/devices/RGBDSensor_nws_yarp/tests/RGBDSensor_nws_yarp_test.cpp
+++ b/src/devices/RGBDSensor_nws_yarp/tests/RGBDSensor_nws_yarp_test.cpp
@@ -16,7 +16,7 @@ using namespace yarp::dev;
 using namespace yarp::sig;
 using namespace yarp::os;
 
-TEST_CASE("dev::Rangefinder2D_nws_yarpTest", "[yarp::dev]")
+TEST_CASE("dev::rgbdSensor_nws_yarpTest", "[yarp::dev]")
 {
     YARP_REQUIRE_PLUGIN("fakeDepthCamera", "device");
     YARP_REQUIRE_PLUGIN("rgbdSensor_nws_yarp", "device");
@@ -39,5 +39,39 @@ TEST_CASE("dev::Rangefinder2D_nws_yarpTest", "[yarp::dev]")
         CHECK(nws_driver.close());
     }
 
+    SECTION("Test the rgbdSensor_nws_yarp device with fakeDepthCamera device attached")
+    {
+        PolyDriver dd_fake;
+        PolyDriver dd_nws;
+        Property p_fake;
+        Property p_nws;
+
+        //open
+        p_nws.put("device", "rgbdSensor_nws_yarp");
+        p_nws.put("name", "/rgbd_nws");
+        p_fake.put("device", "fakeDepthCamera");
+        REQUIRE(dd_fake.open(p_fake));
+        REQUIRE(dd_nws.open(p_nws));
+
+        yarp::os::SystemClock::delaySystem(0.5);
+
+        //attach
+        {
+            yarp::dev::WrapperSingle* ww_nws; dd_nws.view(ww_nws);
+            REQUIRE(ww_nws);
+            bool result_att = ww_nws->attach(&dd_fake);
+            REQUIRE(result_att);
+        }
+
+        //Wait some time
+        yarp::os::SystemClock::delaySystem(1.0);
+
+        //Close all polydrivers and check
+        {
+            CHECK(dd_nws.close());
+            CHECK(dd_fake.close());
+        }
+    }
+
     Network::setLocalMode(false);
 }