diff --git a/test/sample_consensus/test_sample_consensus.cpp b/test/sample_consensus/test_sample_consensus.cpp
index faf33cc8e97..86565f9355f 100644
--- a/test/sample_consensus/test_sample_consensus.cpp
+++ b/test/sample_consensus/test_sample_consensus.cpp
@@ -111,27 +111,19 @@ TYPED_TEST(SacTest, InfiniteLoop)
   SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
   TypeParam sac (model, 0.03);
 
-  // This test sometimes fails for LMedS on azure, but always passes when run locally.
-  // Enable all output for LMedS, so that when it fails next time, we hopefully see why.
-  // This can be removed again when the failure reason is found and fixed.
-  int debug_verbosity_level = 0;
-  const auto previous_verbosity_level = pcl::console::getVerbosityLevel();
-  if (std::is_same<TypeParam, LeastMedianSquares<PointXYZ>>::value) {
-    debug_verbosity_level = 2;
-    pcl::console::setVerbosityLevel(pcl::console::L_VERBOSE);
-  }
-
   // Set up timed conditions
   std::condition_variable cv;
   std::mutex mtx;
+  bool done = false; // set to true when computeModel() has returned
 
   // Create the RANSAC object
   std::thread thread ([&] ()
   {
-    sac.computeModel (debug_verbosity_level);
+    sac.computeModel (0);
 
     // Notify things are done
     std::lock_guard<std::mutex> lock (mtx);
+    done = true;
     cv.notify_one ();
   });
 
@@ -139,15 +131,13 @@ TYPED_TEST(SacTest, InfiniteLoop)
   // Waits for the delay
   std::unique_lock<std::mutex> lock (mtx);
   #if defined(DEBUG) || defined(_DEBUG)
-    EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, 15s));
+    ASSERT_TRUE (cv.wait_for (lock, 15s, [&done]{ return done; }));
   #else
-    EXPECT_EQ (std::cv_status::no_timeout, cv.wait_for (lock, 2s));
+    ASSERT_TRUE (cv.wait_for (lock, 2s, [&done]{ return done; }));
   #endif
   // release lock to avoid deadlock
   lock.unlock();
   thread.join ();
-
-  pcl::console::setVerbosityLevel(previous_verbosity_level); // reset verbosity level
 }
 
 int