diff --git a/rclpy/services/minimal_client/client.py b/rclpy/services/minimal_client/client.py
index b2b5f677..1f672ba5 100644
--- a/rclpy/services/minimal_client/client.py
+++ b/rclpy/services/minimal_client/client.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import time
-
 from example_interfaces.srv import AddTwoInts
 
 import rclpy
@@ -27,10 +25,8 @@ def main(args=None):
     req = AddTwoInts.Request()
     req.a = 41
     req.b = 1
-    # TODO(mikaelarguedas) remove this once wait for service implemented
-    # wait for connection to be established
-    # (no wait for service in Python yet)
-    time.sleep(1)
+    while not cli.wait_for_service(timeout_sec=1.0):
+        print('service not available, waiting again...')
 
     cli.call(req)
     # when calling wait for future
diff --git a/rclpy/services/minimal_client/client_async.py b/rclpy/services/minimal_client/client_async.py
index 35739040..61870c9d 100644
--- a/rclpy/services/minimal_client/client_async.py
+++ b/rclpy/services/minimal_client/client_async.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import time
-
 from example_interfaces.srv import AddTwoInts
 
 import rclpy
@@ -29,10 +27,9 @@ def main(args=None):
     req = AddTwoInts.Request()
     req.a = 41
     req.b = 1
-    # TODO(mikaelarguedas) remove this once wait for service implemented
-    # wait for connection to be established
-    # (no wait for service in Python yet)
-    time.sleep(1)
+    while not cli.wait_for_service(timeout_sec=1.0):
+        print('service not available, waiting again...')
+
     cli.call(req)
     while rclpy.ok():
         # TODO(mikaelarguedas) This is not the final API, and this does not scale
diff --git a/rclpy/services/minimal_client/client_async_member_function.py b/rclpy/services/minimal_client/client_async_member_function.py
index f716e68f..b92dc5c5 100644
--- a/rclpy/services/minimal_client/client_async_member_function.py
+++ b/rclpy/services/minimal_client/client_async_member_function.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import time
-
 from example_interfaces.srv import AddTwoInts
 
 import rclpy
@@ -25,10 +23,8 @@ class MinimalClientAsync(Node):
     def __init__(self):
         super().__init__('minimal_client_async')
         self.cli = self.create_client(AddTwoInts, 'add_two_ints')
-        # TODO(mikaelarguedas) remove this once wait for service implemented
-        # wait for connection to be established
-        # (no wait for service in Python yet)
-        time.sleep(1)
+        while not self.cli.wait_for_service(timeout_sec=1.0):
+            print('service not available, waiting again...')
         self.req = AddTwoInts.Request()
 
     def send_request(self):