The performance of several trigger counters based on plastic scintillators with silicon photomultiplier readout is investigated with cosmic rays. Efficiency and time resolution are measured using digital waveform analysis. The obtained results are relevant for trigger subsystems of Multi-Purpose Detector (MPD) and Baryonic Matter at the Nuclotron (BM@N) at the NICA heavy-ion collider. The results show very high efficiency and good timing performance of the counters.