diff --git a/rclcpp/include/rclcpp/executors/executor_entities_collection.hpp b/rclcpp/include/rclcpp/executors/executor_entities_collection.hpp
index 517894a2a2..ef08492fe8 100644
--- a/rclcpp/include/rclcpp/executors/executor_entities_collection.hpp
+++ b/rclcpp/include/rclcpp/executors/executor_entities_collection.hpp
@@ -18,6 +18,7 @@
 #include <deque>
 #include <functional>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include <rclcpp/any_executable.hpp>
@@ -72,24 +73,28 @@ void update_entities(
   std::function<void(const typename CollectionType::EntitySharedPtr &)> on_removed
 )
 {
-  for (auto it = update_to.begin(); it != update_to.end(); ) {
+  for (auto it = update_to.begin_ordered(); it != update_to.end_ordered(); ) {
     if (update_from.count(it->first) == 0) {
       auto entity = it->second.entity.lock();
       if (entity) {
         on_removed(entity);
       }
-      it = update_to.erase(it);
+      it = update_to.erase_ordered(it);
     } else {
       ++it;
     }
   }
-  for (auto it = update_from.begin(); it != update_from.end(); ++it) {
+  for (auto it = update_from.begin_ordered(); it != update_from.end_ordered(); ++it) {
     if (update_to.count(it->first) == 0) {
       auto entity = it->second.entity.lock();
       if (entity) {
         on_added(entity);
       }
-      update_to.insert(*it);
+      bool inserted = update_to.insert(*it);
+      // Should never be false, so this is a defensive check, mark unused too
+      // in order to avoid a warning in release builds.
+      assert(inserted);
+      RCUTILS_UNUSED(inserted);
     }
   }
 }
@@ -97,9 +102,18 @@ void update_entities(
 /// A collection of entities, indexed by their corresponding handles
 template<typename EntityKeyType, typename EntityValueType>
 class EntityCollection
-  : public std::unordered_map<const EntityKeyType *, CollectionEntry<EntityValueType>>
 {
 public:
+  /// Type of the map used for random access
+  using MapType = std::unordered_map<const EntityKeyType *, CollectionEntry<EntityValueType>>;
+
+  /// Type of the vector for insertion order access
+  // Note, we cannot use typename MapType::value_type because it makes the first
+  // item in the pair const, which prevents copy assignment of the pair, which
+  // prevents std::vector::erase from working later...
+  using VectorType = std::vector<std::pair<const EntityKeyType *,
+      CollectionEntry<EntityValueType>>>;
+
   /// Key type of the map
   using Key = const EntityKeyType *;
 
@@ -125,6 +139,125 @@ class EntityCollection
   {
     update_entities(other, *this, on_added, on_removed);
   }
+
+  // Below are some forwarded functions to the map and vector as appropriate.
+
+  typename MapType::size_type count(const Key & key) const
+  {
+    return map_.count(key);
+  }
+
+  typename MapType::iterator begin()
+  {
+    return map_.begin();
+  }
+
+  typename MapType::const_iterator begin() const
+  {
+    return map_.begin();
+  }
+
+  typename MapType::iterator end()
+  {
+    return map_.end();
+  }
+
+  typename MapType::const_iterator end() const
+  {
+    return map_.end();
+  }
+
+  typename VectorType::iterator begin_ordered()
+  {
+    return insertion_order_.begin();
+  }
+
+  typename VectorType::const_iterator begin_ordered() const
+  {
+    return insertion_order_.begin();
+  }
+
+  typename VectorType::iterator end_ordered()
+  {
+    return insertion_order_.end();
+  }
+
+  typename VectorType::const_iterator end_ordered() const
+  {
+    return insertion_order_.end();
+  }
+
+  typename MapType::const_iterator find(const Key & key) const
+  {
+    return map_.find(key);
+  }
+
+  bool empty() const noexcept
+  {
+    return insertion_order_.empty();
+  }
+
+  typename VectorType::size_type size() const noexcept
+  {
+    return insertion_order_.size();
+  }
+
+  typename MapType::iterator erase(typename MapType::const_iterator pos)
+  {
+    // from: https://en.cppreference.com/w/cpp/container/unordered_map/erase
+    // The iterator pos must be valid and dereferenceable.
+    // Thus the end() iterator (which is valid, but is not dereferenceable)
+    // cannot be used as a value for pos.
+    //
+    // Therefore we can use pos-> here safely.
+    insertion_order_.erase(
+      std::remove_if(
+        insertion_order_.begin(),
+        insertion_order_.end(),
+        [&pos](auto value) {
+          return value.first == pos->first;
+        }));
+    return map_.erase(pos);
+  }
+
+  typename VectorType::iterator erase_ordered(typename VectorType::const_iterator pos)
+  {
+    // from: https://en.cppreference.com/w/cpp/container/vector/erase
+    // The iterator pos must be valid and dereferenceable. Thus the end
+    // () iterator (which is valid, but is not dereferenceable) cannot be used
+    // as a value for pos.
+    //
+    // Therefore we can use pos-> here safely.
+
+    assert(map_.erase(pos->first) == 1);
+    return insertion_order_.erase(pos);
+  }
+
+  void clear() noexcept
+  {
+    insertion_order_.clear();
+    return map_.clear();
+  }
+
+  /// Insert into the collection and return true if inserted, otherwise false
+  /**
+   * Insertion will fail, and return false, if attempting to insert a duplicate
+   * entity.
+   */
+  [[nodiscard]]
+  bool insert(typename MapType::value_type value)
+  {
+    if (!map_.insert(value).second) {
+      // attempting to insert a duplicate entity
+      return false;
+    }
+    insertion_order_.push_back(value);
+    return true;
+  }
+
+private:
+  MapType map_;
+  VectorType insertion_order_;
 };
 
 /// Represent the total set of entities for a single executor
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
index 95b0d7fcc8..c4ffa47928 100644
--- a/rclcpp/src/rclcpp/executor.cpp
+++ b/rclcpp/src/rclcpp/executor.cpp
@@ -673,7 +673,11 @@ Executor::collect_entities()
     current_notify_waitable_ = std::make_shared<rclcpp::executors::ExecutorNotifyWaitable>(
       *notify_waitable_);
     auto notify_waitable = std::static_pointer_cast<rclcpp::Waitable>(current_notify_waitable_);
-    collection.waitables.insert({notify_waitable.get(), {notify_waitable, {}}});
+    bool inserted = collection.waitables.insert({notify_waitable.get(), {notify_waitable, {}}});
+    // Should never be false, so this is a defensive check, mark unused too
+    // in order to avoid a warning in release builds.
+    assert(inserted);
+    RCUTILS_UNUSED(inserted);
   }
 
   // We must remove expired entities here, so that we don't continue to use older entities.
diff --git a/rclcpp/src/rclcpp/executors/executor_entities_collection.cpp b/rclcpp/src/rclcpp/executors/executor_entities_collection.cpp
index 68ac56b656..c1e18cb50e 100644
--- a/rclcpp/src/rclcpp/executors/executor_entities_collection.cpp
+++ b/rclcpp/src/rclcpp/executors/executor_entities_collection.cpp
@@ -43,10 +43,10 @@ size_t ExecutorEntitiesCollection::remove_expired_entities()
 {
   auto remove_entities = [](auto & collection) -> size_t {
       size_t removed = 0;
-      for (auto it = collection.begin(); it != collection.end(); ) {
+      for (auto it = collection.begin_ordered(); it != collection.end_ordered(); ) {
         if (it->second.entity.expired()) {
           ++removed;
-          it = collection.erase(it);
+          it = collection.erase_ordered(it);
         } else {
           ++it;
         }
@@ -79,39 +79,59 @@ build_entities_collection(
     if (group_ptr->can_be_taken_from().load()) {
       group_ptr->collect_all_ptrs(
         [&collection, weak_group_ptr](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-          collection.subscriptions.insert(
+          bool inserted = collection.subscriptions.insert(
             {
               subscription->get_subscription_handle().get(),
               {subscription, weak_group_ptr}
             });
+          // Should never be false, so this is a defensive check, mark unused too
+          // in order to avoid a warning in release builds.
+          assert(inserted);
+          RCUTILS_UNUSED(inserted);
         },
         [&collection, weak_group_ptr](const rclcpp::ServiceBase::SharedPtr & service) {
-          collection.services.insert(
+          bool inserted = collection.services.insert(
             {
               service->get_service_handle().get(),
               {service, weak_group_ptr}
             });
+          // Should never be false, so this is a defensive check, mark unused too
+          // in order to avoid a warning in release builds.
+          assert(inserted);
+          RCUTILS_UNUSED(inserted);
         },
         [&collection, weak_group_ptr](const rclcpp::ClientBase::SharedPtr & client) {
-          collection.clients.insert(
+          bool inserted = collection.clients.insert(
             {
               client->get_client_handle().get(),
               {client, weak_group_ptr}
             });
+          // Should never be false, so this is a defensive check, mark unused too
+          // in order to avoid a warning in release builds.
+          assert(inserted);
+          RCUTILS_UNUSED(inserted);
         },
         [&collection, weak_group_ptr](const rclcpp::TimerBase::SharedPtr & timer) {
-          collection.timers.insert(
+          bool inserted = collection.timers.insert(
             {
               timer->get_timer_handle().get(),
               {timer, weak_group_ptr}
             });
+          // Should never be false, so this is a defensive check, mark unused too
+          // in order to avoid a warning in release builds.
+          assert(inserted);
+          RCUTILS_UNUSED(inserted);
         },
         [&collection, weak_group_ptr](const rclcpp::Waitable::SharedPtr & waitable) {
-          collection.waitables.insert(
+          bool inserted = collection.waitables.insert(
             {
               waitable.get(),
               {waitable, weak_group_ptr}
             });
+          // Should never be false, so this is a defensive check, mark unused too
+          // in order to avoid a warning in release builds.
+          assert(inserted);
+          RCUTILS_UNUSED(inserted);
         }
       );
     }
diff --git a/rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp b/rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp
index ce6a103ab2..a17860960a 100644
--- a/rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp
+++ b/rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp
@@ -511,9 +511,19 @@ EventsExecutor::add_notify_waitable_to_collection(
 {
   // The notify waitable is not associated to any group, so use an invalid one
   rclcpp::CallbackGroup::WeakPtr weak_group_ptr;
-  collection.insert(
+  bool inserted = collection.insert(
   {
     this->notify_waitable_.get(),
     {this->notify_waitable_, weak_group_ptr}
   });
+  // Explicitly ignore if the notify waitable was not inserted because that means
+  // it was already inserted, which happens initially as it is explicitly added
+  // in the constructor as well as every time the collection is reset, so on
+  // the first reset there is a second insertion attempt.
+  // We could check before trying to insert, but that would require a "find" call
+  // on each refresh, which is expensive, and otherwise it would require additional
+  // state in this class to detect the initial case where it is added twice.
+  // Therefore we just insert and ignore it if it fails (the only way it fails
+  // is when a duplicate is inserted).
+  RCUTILS_UNUSED(inserted);
 }
diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
index a82b702db5..84c24713f5 100644
--- a/rclcpp/test/rclcpp/executors/test_executors.cpp
+++ b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -37,8 +37,10 @@
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/time_source.hpp"
+#include "rcpputils/scope_exit.hpp"
 
 #include "test_msgs/msg/empty.hpp"
+#include "test_msgs/srv/empty.hpp"
 
 #include "./executor_types.hpp"
 
@@ -878,6 +880,370 @@ TEST(TestExecutors, testSpinWithNonDefaultContext)
   rclcpp::shutdown(non_default_context);
 }
 
+// The purpose of this test is to check that the order of callbacks happen
+// in some relation to the order of events and the order in which the callbacks
+// were registered.
+// This is not a guarantee of executor API, but it is a bit of UB that some
+// have come to depend on, see:
+//
+//   https://github.com/ros2/rclcpp/issues/2532
+//
+// It should not be changed unless there's a good reason for it (users find it
+// the least surprising outcome even if it is not guaranteed), but if there
+// is a good reason for changing it, then the executors effected can be skipped,
+// or the test can be removed.
+// The purpose of this test is to catch this regressions and let the authors of
+// the change read up on the above context and act accordingly.
+TYPED_TEST(TestExecutors, deterministic_execution_order_ub)
+{
+  using ExecutorType = TypeParam;
+
+  // number of each entity to test
+  constexpr size_t number_of_entities = 20;
+  std::vector<size_t> forward(number_of_entities);
+  std::iota(std::begin(forward), std::end(forward), 0);
+  std::vector<size_t> reverse(number_of_entities);
+  std::reverse_copy(std::begin(forward), std::end(forward), std::begin(reverse));
+
+  // The expected results vary based on the registration order (always 0..N-1),
+  // the call order (what this means varies based on the entity type), the
+  // entity types, and in some cases the executor type.
+  // It is also possible that the rmw implementation can play a role in the
+  // ordering, depending on how the executor uses the rmw layer.
+  // The follow structure and logic tries to capture these details.
+  // Each test case represents a case-entity pair,
+  // e.g. "forward call order for waitables" or "reverse call order for timers"
+  struct test_case
+  {
+    // If this is true, then the test case should be skipped.
+    bool should_skip;
+    // Order in which to invoke the entities, where that is possible to control.
+    // For example, the order in which we trigger() the waitables, or the
+    // order in which we set the timers up to execute (using increasing periods).
+    std::vector<size_t> call_order;
+    // Order in which we expect the entities to be executed by the executor.
+    std::vector<size_t> expected_execution_order;
+  };
+  // tests cases are "test_name: {"entity type": {skip, call_order, expected_execution_order}"
+  std::map<std::string, std::map<std::string, test_case>> test_cases = {
+    {
+      "forward call order",
+      {
+        {"waitable", {false, forward, forward}},
+        {"subscription", {false, forward, forward}},
+        {"service", {false, forward, forward}},
+        {"timer", {false, forward, forward}}
+      }
+    },
+    {
+      "reverse call order",
+      {
+        {"waitable", {false, reverse, forward}},
+        {"subscription", {false, reverse, forward}},
+        {"service", {false, reverse, forward}},
+        // timers are always called in order of which expires soonest, so
+        // the registration order doesn't necessarily affect them
+        {"timer", {false, reverse, reverse}}
+      }
+    },
+  };
+
+  // Note use this to exclude or modify expected results for executors if this
+  // undefined behavior doesn't hold for them:
+  if (
+    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>())
+  {
+    // for the EventsExecutor the call order is the execution order because it
+    // tracks the individual events (triggers in the case of waitables) and
+    // executes in that order
+    test_cases["reverse call order"]["waitable"] = {false, reverse, reverse};
+    // timers are unaffected by the above about waitables, as they are always
+    // executed in "call order" even in the other executors
+    // but, subscription and service execution order is driven by the rmw impl
+    // due to how the EventsExecutor uses the rmw interface, so we'll skip those
+    for (auto & test_case_pair : test_cases) {
+      for (auto & entity_test_case_pair : test_case_pair.second) {
+        if (
+          entity_test_case_pair.first == "subscription" ||
+          entity_test_case_pair.first == "service")
+        {
+          entity_test_case_pair.second = {true, {}, {}};
+        }
+      }
+    }
+  }
+
+  // Set up a situation with N waitables, added in order (1, ..., N) and then
+  // trigger them in various orders between calls to spin, to see that the order
+  // is impacted by the registration order (in most cases).
+  // Note that we always add/register, trigger, then wait/spin, because this
+  // undefined behavior related to execution order only applies to entities
+  // that were "ready" in between calls to spin, i.e. they appear to become
+  // "ready" to the executor at the "same time".
+  // Also note, that this ordering only applies within entities of the same type
+  // as well, there are other parts of the executor that determine the order
+  // between entity types, e.g. the default scheduling (at the time of writing)
+  // prefers timers, then subscriptions, then service servers, then service
+  // clients, and then waitables, see: Executor::get_next_ready_executable()
+  // But that might be different for different executors and may change in the
+  // future.
+  // So here we just test order withing a few different waitable instances only.
+  // Further down we test similar set ups with other entities like subscriptions
+  // and timers.
+
+  constexpr bool automatically_add_to_executor_with_node = false;
+  auto isolated_callback_group = this->node->create_callback_group(
+    rclcpp::CallbackGroupType::MutuallyExclusive,
+    automatically_add_to_executor_with_node);
+
+  // perform each of the test cases for waitables
+  {
+    auto waitable_interfaces = this->node->get_node_waitables_interface();
+
+    std::vector<std::shared_ptr<TestWaitable>> waitables;
+    for (size_t i = 0; i < number_of_entities; ++i) {
+      auto my_waitable = std::make_shared<TestWaitable>();
+      waitable_interfaces->add_waitable(my_waitable, isolated_callback_group);
+      waitables.push_back(my_waitable);
+    }
+
+    for (const auto & test_case_pair : test_cases) {
+      const std::string & test_case_name = test_case_pair.first;
+      const auto & test_case = test_case_pair.second.at("waitable");
+      if (test_case.should_skip) {
+        continue;
+      }
+
+      ExecutorType executor;
+      executor.add_callback_group(isolated_callback_group, this->node->get_node_base_interface());
+
+      RCPPUTILS_SCOPE_EXIT({
+        for (size_t i = 0; i < number_of_entities; ++i) {
+          waitables[i]->set_on_execute_callback(nullptr);
+        }
+      });
+
+      std::vector<size_t> actual_order;
+      for (size_t i : test_case.call_order) {
+        waitables[i]->set_on_execute_callback([&actual_order, i]() {actual_order.push_back(i);});
+        waitables[i]->trigger();
+      }
+
+      while (actual_order.size() < number_of_entities && rclcpp::ok()) {
+        executor.spin_once(10s);  // large timeout because it should normally exit quickly
+      }
+
+      EXPECT_EQ(actual_order, test_case.expected_execution_order)
+        << "callback call order of waitables in test case '" << test_case_name
+        << "' different than expected, this may be a false positive, see test "
+        << "description";
+    }
+  }
+
+  // perform each of the test cases for subscriptions
+  {
+    const std::string test_topic_name = "~/deterministic_execution_order_ub";
+    std::map<rclcpp::SubscriptionBase *, std::function<void()>> on_sub_data_callbacks;
+    std::vector<rclcpp::Subscription<test_msgs::msg::Empty>::SharedPtr> subscriptions;
+    rclcpp::SubscriptionOptions so;
+    so.callback_group = isolated_callback_group;
+    for (size_t i = 0; i < number_of_entities; ++i) {
+      size_t next_sub_index = subscriptions.size();
+      auto sub = this->node->template create_subscription<test_msgs::msg::Empty>(
+        test_topic_name,
+        10,
+        [&on_sub_data_callbacks, &subscriptions, next_sub_index](const test_msgs::msg::Empty &) {
+          auto this_sub_pointer = subscriptions[next_sub_index].get();
+          auto callback_for_sub_it = on_sub_data_callbacks.find(this_sub_pointer);
+          ASSERT_NE(callback_for_sub_it, on_sub_data_callbacks.end());
+          auto on_sub_data_callback = callback_for_sub_it->second;
+          if (on_sub_data_callback) {
+            on_sub_data_callback();
+          }
+        },
+        so);
+      subscriptions.push_back(sub);
+    }
+
+    for (const auto & test_case_pair : test_cases) {
+      const std::string & test_case_name = test_case_pair.first;
+      const auto & test_case = test_case_pair.second.at("subscription");
+      if (test_case.should_skip) {
+        continue;
+      }
+
+      ExecutorType executor;
+      executor.add_callback_group(isolated_callback_group, this->node->get_node_base_interface());
+
+      RCPPUTILS_SCOPE_EXIT({
+        on_sub_data_callbacks.clear();
+      });
+
+      std::vector<size_t> actual_order;
+      for (size_t i = 0; i < number_of_entities; ++i) {
+        auto sub = subscriptions[i];
+        on_sub_data_callbacks[sub.get()] = [&actual_order, i]() {
+            actual_order.push_back(i);
+          };
+      }
+
+      // create publisher and wait for all of the subscriptions to match
+      auto pub = this->node->template create_publisher<test_msgs::msg::Empty>(test_topic_name, 10);
+      size_t number_of_matches = pub->get_subscription_count();
+      while (number_of_matches < number_of_entities && rclcpp::ok()) {
+        executor.spin_once(10s);  // large timeout because it should normally exit quickly
+        number_of_matches = pub->get_subscription_count();
+      }
+
+      // publish once and wait for all subscriptions to be handled
+      pub->publish(test_msgs::msg::Empty());
+      while (actual_order.size() < number_of_entities && rclcpp::ok()) {
+        executor.spin_once(10s);  // large timeout because it should normally exit quickly
+      }
+
+      EXPECT_EQ(actual_order, test_case.expected_execution_order)
+        << "callback call order of subscriptions in test case '" << test_case_name
+        << "' different than expected, this may be a false positive, see test "
+        << "description";
+    }
+  }
+
+  // perform each of the test cases for service servers
+  {
+    const std::string test_service_name = "~/deterministic_execution_order_ub";
+    std::map<rclcpp::ServiceBase *, std::function<void()>> on_request_callbacks;
+    std::vector<rclcpp::Service<test_msgs::srv::Empty>::SharedPtr> services;
+    std::vector<rclcpp::Client<test_msgs::srv::Empty>::SharedPtr> clients;
+    for (size_t i = 0; i < number_of_entities; ++i) {
+      size_t next_srv_index = services.size();
+      auto srv = this->node->template create_service<test_msgs::srv::Empty>(
+        test_service_name + "_" + std::to_string(i),
+        [&on_request_callbacks, &services, next_srv_index](
+          std::shared_ptr<test_msgs::srv::Empty::Request>,
+          std::shared_ptr<test_msgs::srv::Empty::Response>
+        ) {
+          auto this_srv_pointer = services[next_srv_index].get();
+          auto callback_for_srv_it = on_request_callbacks.find(this_srv_pointer);
+          ASSERT_NE(callback_for_srv_it, on_request_callbacks.end());
+          auto on_request_callback = callback_for_srv_it->second;
+          if (on_request_callback) {
+            on_request_callback();
+          }
+        },
+        10,
+        isolated_callback_group);
+      services.push_back(srv);
+      auto client = this->node->template create_client<test_msgs::srv::Empty>(
+        test_service_name + "_" + std::to_string(i),
+        10,
+        isolated_callback_group
+      );
+      clients.push_back(client);
+    }
+
+    for (const auto & test_case_pair : test_cases) {
+      const std::string & test_case_name = test_case_pair.first;
+      const auto & test_case = test_case_pair.second.at("service");
+      if (test_case.should_skip) {
+        continue;
+      }
+
+      ExecutorType executor;
+      executor.add_callback_group(isolated_callback_group, this->node->get_node_base_interface());
+
+      RCPPUTILS_SCOPE_EXIT({
+        on_request_callbacks.clear();
+      });
+
+      std::vector<size_t> actual_order;
+      for (size_t i = 0; i < number_of_entities; ++i) {
+        auto srv = services[i];
+        on_request_callbacks[srv.get()] = [&actual_order, i]() {
+            actual_order.push_back(i);
+          };
+      }
+
+      // wait for all of the services to match
+      for (const auto & client : clients) {
+        bool matched = client->wait_for_service(10s);  // long timeout, but should be quick
+        ASSERT_TRUE(matched);
+      }
+
+      // send requests in order
+      for (size_t i : test_case.call_order) {
+        clients[i]->async_send_request(std::make_shared<test_msgs::srv::Empty::Request>());
+      }
+
+      // wait for all the requests to be handled
+      while (actual_order.size() < number_of_entities && rclcpp::ok()) {
+        executor.spin_once(10s);  // large timeout because it should normally exit quickly
+      }
+
+      EXPECT_EQ(actual_order, test_case.expected_execution_order)
+        << "callback call order of service servers in test case '" << test_case_name
+        << "' different than expected, this may be a false positive, see test "
+        << "description";
+    }
+  }
+
+  // perform each of the test cases for timers
+  {
+    for (const auto & test_case_pair : test_cases) {
+      const std::string & test_case_name = test_case_pair.first;
+      const auto & test_case = test_case_pair.second.at("timer");
+      if (test_case.should_skip) {
+        continue;
+      }
+
+      std::map<rclcpp::TimerBase *, std::function<void()>> timer_callbacks;
+      std::vector<rclcpp::TimerBase::SharedPtr> timers;
+      for (size_t i = 0; i < number_of_entities; ++i) {
+        // "call order" for timers will be simulated by setting them at different
+        // periods, with the "first" ones having the smallest period.
+        auto period = 1ms + std::chrono::milliseconds(test_case.call_order[i]);
+        auto timer = this->node->create_timer(
+          period,
+          [&timer_callbacks](rclcpp::TimerBase & timer) {
+            auto timer_callback_it = timer_callbacks.find(&timer);
+            ASSERT_NE(timer_callback_it, timer_callbacks.end());
+            if (nullptr != timer_callback_it->second) {
+              timer_callback_it->second();
+            }
+          },
+          isolated_callback_group);
+        timers.push_back(timer);
+      }
+
+      ExecutorType executor;
+      executor.add_callback_group(isolated_callback_group, this->node->get_node_base_interface());
+
+      RCPPUTILS_SCOPE_EXIT({
+        timer_callbacks.clear();
+      });
+
+      std::vector<size_t> actual_order;
+      for (size_t i = 0; i < number_of_entities; ++i) {
+        ASSERT_LT(i, timers.size());
+        auto & timer = timers[i];
+        timer_callbacks[timer.get()] = [&actual_order, &timer, i]() {
+            actual_order.push_back(i);
+            // only allow execution once
+            timer->cancel();
+          };
+      }
+
+      while (actual_order.size() < number_of_entities && rclcpp::ok()) {
+        executor.spin_once(10s);  // large timeout because it should normally exit quickly
+      }
+
+      EXPECT_EQ(actual_order, test_case.expected_execution_order)
+        << "callback call order of timers in test case '" << test_case_name
+        << "' different than expected, this may be a false positive, see test "
+        << "description";
+    }
+  }
+}
+
 template<typename T>
 class TestBusyWaiting : public ::testing::Test
 {